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StandingCube: The Search for Self-control
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
StåendeKub : Strävan efter självkontroll (Swedish)
Abstract [en]

Control theory is used in many fields of engineering and with a good understanding on how modelling, simulations and real world products differ more adequate controllers may be developed in the different fields of engineering. The intent of this thesis is to answer the question about how pole placement in a model change the behaviour of a real balancing system. The way the writers of this thesis tries to answer this question is by designing, simulating and constructing a self-balancing cube and then record its behaviour with different system poles. The cube used a reaction wheel for balance, and was controlled using state-space control theory. In this way the simulation of the cube could be compared to the actual data from the real cube for the intent of answering the question. 73 different positions of the poles were tested and the result shows that even if the model differs from the real system, a "sweet spot" which increases the time the cube remain on its edge can be found.

The GitHub project can be found at: https://gits-14.sys.kth.se/davidten/standingCubeiii

Abstract [sv]

Reglerteknik används inom många tekniska områden och med en bra förståelse kring hur modellering, simulering och verkligheten skiljer sig åt skulle mer lämpliga regulatorer för olika tekniska områden kunna utvecklas. Denna rapport försöker svara på hur polplacering med hjälp av en förenklad modell påverkar ett verkligt balancerande systems beteende. Författarna till denna rapport har försökt svara på detta genom att designa, simulera och konstruera en självbalanserande kub och sedan mäta dess beteende runt sin instabila nollpunkt givet olika polplaceringar. 73 olika polplaceringar testades och resultatet visar att det fastän modellen innehåller förenklingar så finns det alltid ett område som märkbart förbättrar tiden som kuben kan balansera.

GitHub-projektet går att finna på: https://gits-14.sys.kth.se/davidten/standingCubev

Place, publisher, year, edition, pages
2015.
Series
MMKB 2015:05 MDAB 058
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184255OAI: oai:DiVA.org:kth-184255DiVA: diva2:915979
Supervisors
Examiners
Available from: 2016-04-08 Created: 2016-03-31 Last updated: 2016-04-08Bibliographically approved

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