Building a self balancing scooter II

• Main Author: Ng, Koh Seng.
• Other Authors: Yap Fook Fah
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Mechanical engineering::Motor vehicles
• Online Access: http://hdl.handle.net/10356/17253
• Institution: Nanyang Technological University

This report covers the comprehensive review of the Self Balancing Scooter previously completed by Toh Boon Heng, Elvin and improved upon by Li Wenda and Eugene Yap Tun Huat. The aim of the project is to understand the existing design and the related theory and principles in order to make further improvements to enhance the features of the Self Balancing Scooter. The Self Balancing Scooter is a vehicle which has 2 coaxial wheels driven independently by a controller that balances the vehicle with or without a rider. It was designed and built based on the principles of the inverted pendulum system and functions similarly to that of the Segway Personal Transporter. The vehicle recognizes the direction of gravity in which it constantly tries to stay under through the signals provided by the accelerometer and the gyroscope. These signals are then interpreted from angles and angular accelerations by the microprocessor into commands for the driving of the motors. In this report, much coverage is given to the implementation of the new microprocessor and the force sensing steering system. The additional implementation of control systems like the complementary filter and PID controllers are also detailed. Physical and mechanical improvements made to the vehicle are then discussed to showcase the improvements to not only the functionality, but also the aesthetics of the Self Balancing Scooter. Overall, this project was successfully completed with a self balancing vehicle that is easy and enjoyable to ride on, yet providing an enriching experience and a very good learning platform as a final year project.