DESIGN AND DEVELOPMENT OF SELF-BALANCING SYSTEM MODEL OF TWO-WHEELED VEHICLE USING REACTION WHEEL

• Main Author: Arigi, Yuzar
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/50462
• Institution: Institut Teknologi Bandung

This study provided processes of designing, developing and examining examining self-balancing system model on a two-wheeled vehicle. The model controls a direct-current (DC) motor voltage that produces torsion on a reaction wheel. The process of designing and developing was focused on the reaction wheel component. The wheel dimension was determined by comparing mass and its moment of inertia and also simulation of its maximum initial tilt angle. It was analyzed by state space method with feedback linier-quadratic regulator controller. The weighting of matrices was chosen by Bryson's rules method. The result revealed that the self-balancing model was able to balance the vehicle with initial tilt angle of 5 degree that stays balanced more than 5 seconds. In addition, this model was proved to resist small disturbance. Compared to the simulation result, this model had a higher overshoot in need of longer time to reach the steady state. It caused by electronic component simplification that shifts the center of gravity and unbalance mass on the reaction wheel.