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Handheld container stabilizer
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Självstabiliserande behållare (Swedish)
Abstract [en]

Self-stabilizing systems can be found in many contexts. They are used in aircraft and camera gimbals to name a few. In this project, a self-stabilizing container was constructed. The construction consists of three parts. An inner ring which rotates around the Z-axis, an outer ring which rotates around the Y-axis and a handle with space for three DC motors and a microcontroller. In this project an Arduino Nano was used. To detect inclination an IMU (Inertial Measurement Unit) was deployed. An IMU is a sensor consisting of three gyroscopes and three accelerometers, one for each coordinate axis. The software for the construction consists of four parts; angle reading, a Kalman filter, two PID-controllers and a motor controller. When a container is inserted into the construction the four-part system keeps the container horizontal and stable. Experimental data shows that in 84% of the tests the construction could stabilize the container.

Abstract [sv]

Självstabiliserande system kan man finna i många olika sammanhang. Några exempel på självstabiliserande system är flygplan och kamerastabilisatorer. I detta projekt konstruerades en självstabiliserande behållare. Konstruktionen består av tre delar. En ring som kan rotera runt Z-axeln, en ring som kan rotera runt Y-axeln och ett handtag med plats för likströmsmotorer och mikrokontroller. I detta projekt användes Arduino Nano. För att avläsa vinklarna användes en tröghetsmäatare. En tröghetsmätare är en sensor som består av tre gyroskop och tre accelerometrar, en för varje axel. Mjukvaran i konstruktionen består av fyra delar; vinkelavläsning, ett Kalmanfilter, två PID-regulatorer och motorkontroller. Beroende på vilken vinkel konstruktionen har kommer någon av motorerna att korrigera vinkeln på behållaren. Testerna visade att konstruktionen kunde stabilisera behållaren i 84% av alla tester.

Place, publisher, year, edition, pages
2019. , p. 48
Series
TRITA-ITM-EX ; 2019:36
Keywords [en]
Mechatronics, Stable, Self-stabilizing Container, Arduino, MPU6050, PID-controller
Keywords [sv]
Mekatronik, Stabil, Självstabiliserande behållare, Arduino, MPU6050, PID-regulator
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264484OAI: oai:DiVA.org:kth-264484DiVA, id: diva2:1373779
Supervisors
Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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fulltext(2164 kB)4 downloads
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CiteExportLink to record
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