| dc.contributor.advisor | Onshus, Tor Engebret | |
| dc.contributor.author | Brevik, Petter | |
| dc.date.accessioned | 2017-08-17T14:00:45Z | |
| dc.date.available | 2017-08-17T14:00:45Z | |
| dc.date.created | 2017-05-16 | |
| dc.date.issued | 2017 | |
| dc.identifier | ntnudaim:12762 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2451060 | |
| dc.description.abstract | This report presents the results from development and design of a two-axis reaction wheel inverted pendulum. It shows the mathematical modeling
of the system using Euler-Lagrange's equations of motion, as well as MATLAB and Simulink implementation.
A strategy for balance control of the system is presented and compared through simulation, ultimately showing that the system is theoretically
controllable with the given sensor measurements.
Further the report presents an experimental design of the system and implements necessary functions for measurements and balance control.
The results for both the simulations and the experimental tests are presented in this report. Although in the end the experimental model
presented in this report deemed unable to stabilize about the upright equilibrium. | |
| dc.language | eng | |
| dc.publisher | NTNU | |
| dc.subject | Kybernetikk og robotikk, Ny energi, olje og gass | |
| dc.title | Two-Axis Reaction Wheel Inverted Pendulum | |
| dc.type | Master thesis | |
