Design and Development of a Self-Balancing Bicycle Using Control Moment Gyro
POM YUAN LAM
POM YUAN LAM
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Abstract
This thesis reports the use of gyroscopic stabilization to balance kid-size bicycle. A self-balancing bicycle is a non-linear unstable system similar to that of an inverted pendulum. Experimental results show the robustness and efficiency of a proportional plus derivative (PD) controller balancing the bicycle. The system uses a control moment gyroscope (CMG) as an actuator for balancing.
Keywords
Bicycle, Gyroscopic Stabilization, Control Moment Gyro (CMG), Real-Time, Control, Field Programmable Gate Array (FPGA)
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Date
2012-08-23
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Thesis