The design, modeling, control and promotion of a three dimensional cubic shape flywheel inverted pendulum and its one dimensional prototype
by Xu Haoran
THESIS
2018
M.Phil. Electronic and Computer Engineering
x, 50 pages : illustrations (chiefly color) ; 30 cm
Abstract
Inverted pendulum is one of the most popular electromechanical and control systems for
teaching and researching. Based on the structure and principle of the traditional inverted
pendulum, this thesis introduces the new design and implementation of a three dimensional cubic
shape flywheel inverted pendulum which is called iCube. The iCube consists of triple suites of flywheel, motor and electronic speed controller (ESC) for attitude control. It can balance itself
on its edges and corners. For developing the hardware design and software algorithm, a one
dimensional flywheel inverted pendulum is designed and implemented, which is the prototype
of the iCube. This thesis presents the structure design, modeling and control algorithm of the
one dimensional prototype and iCube.
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