Kendinden dengeleyici bir elektrikli kaykayın tasarımı ve uygulanması

In this study, three-dimensional design, control, dynamic simulations and implementation of a two-wheeled scooter working according to the inverse pendulum principle were considered. The scooter model was created with the SolidWorks program and the dimensions of the scooter were designed to provide an ergonomic ride for real usage. The assembly model was transferred to Matlab/Simmechanics environment and necessary parameters and kinematic relationships between parts were defined and the numerical model was harmonized with the physical model. In the control phase, using the PID controller for the closed control system, the scooter was brought to the vertical equilibrium position and the system was returned to the equilibrium position with the most appropriate dynamic response against possible disturbing inputs. In the numerical model created for the scooter, a mass to represent the user mass was added and the dynamic response of the system against an impulsive input applied on the mass was examined numerically. After examining the dynamic response of the system in computer environment, prototype model production, selection of electronic components, assembly and programming of the controller were studied.