Building a self-balancing scooter I
Xu, Wen Zuan
Date of Issue2015
School of Mechanical and Aerospace Engineering
This report is about a self-balancing scooter. A self-balancing scooter is a vehicle that has two wheels on the coaxial, which drives by a motor independently. It is able to balance by itself or with rider on top. A version of the scooter was done by previous group of people. This final year project is to improve the previous of scooter in all aspects. This project is under supervised by ASSOC. PROF. YAP FOOK FAH. The aim of this project is to understand what is needed to build a scooter and its working principle. Rebuild it with better prototype by reuse the main component from the previous prototype, as to save cost. This report will discuss about the new self-balancing scooter, which has improve and modify from previous prototype of the scooter. The design of the scooter is base on the inverted pendulum theory. Segway made first self-balancing scooter. This report start with some research and literature Review, to get a better understand of the self-balancing scooter. Follow by analysis previous prototype, understand it’s pro and cons and coming up with a new design. The designing of the scooter divide into three parts, mechanical design, electronic design and programming. Mechanical design materials are mainly reuse materials or parts from previous few prototypes. In the electronic design, more electronic components are added compare to the previous prototype. In the programming, a PID controller (proportional-integral-derivative controller) is use to control the scooter. Lastly future improvement and suggestion for the next group of students.
Final Year Project (FYP)
Nanyang Technological University