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Self-balancing scooter: How to construct a Self-balancing scooter
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
2016 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

This rapport deals with the construction of a self-balancing scooter. A self-balancing scooter is a two-wheel vehicle where the velocity is controlled by the tilt of the driver. When the driver leans forward and backward, the vehicle is running forward and backwards. The main task was to determine if the Arduino microcontroller could be used for the control system.

An iron frame, control circuit and a tilt able handlebar were constructed. Two recycled permobil DC-motor were mounted onto the iron frame. An accelerometer and a gyrometer were obtaining the tilt of the handlebar and the scooter. The system was using locked Anti-phase drive and a PI-regulator to control the motors.

The self-balancing scooter prototype worked well and was able to balance without any external help. The driver was able to control the speed by tilting forward or backward and was able to choose the direction by the tilt of the handlebar. The balance was affected negative by the backlashes from the gear and too weak H-bridges.

If the project were made again, two three-phase hub motors with higher ratings would replace the DC-motors. Gears could be excluded and the backlashes are removed.

Place, publisher, year, edition, pages
2016. , 23 p.
TVE, 16 053
Keyword [en]
Segway, Self-balancing scooter, Arduino, PID, H-bridges, H-bridge, Anti phase, Anti-phase drive, MPU-6050
National Category
Control Engineering
URN: urn:nbn:se:uu:diva-300903OAI: oai:DiVA.org:uu-300903DiVA: diva2:952848
Educational program
Master Programme in Electrical Engineering
Available from: 2016-08-18 Created: 2016-08-15 Last updated: 2016-08-18Bibliographically approved

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