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KTH

1. Murtaza, Alexander. Handheld container stabilizer.

Degree: Industrial Engineering and Management (ITM), 2019, KTH

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.

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.

Subjects/Keywords: Mechatronics; Stable; Self-stabilizing Container; Arduino; MPU6050; PID-controller; Mekatronik; Stabil; Självstabiliserande behållare; Arduino; MPU6050; PID-regulator; Engineering and Technology; Teknik och teknologier

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Murtaza, A. (2019). Handheld container stabilizer. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Murtaza, Alexander. “Handheld container stabilizer.” 2019. Thesis, KTH. Accessed February 16, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Murtaza, Alexander. “Handheld container stabilizer.” 2019. Web. 16 Feb 2020.

Vancouver:

Murtaza A. Handheld container stabilizer. [Internet] [Thesis]. KTH; 2019. [cited 2020 Feb 16]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Murtaza A. Handheld container stabilizer. [Thesis]. KTH; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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