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Project Goal:
Project Goal:
For the class MENG 389, we were tasked to design and simulate a self-balancing, self-driving motorcycle capable of maintaining stability using a reaction flywheel and executing controlled motion via drive motors. The objective was to integrate classical control techniques with mechatronic systems for autonomous stability and motion.
Skills Used:
Skills Used:
Control systems design (PID tuning, stability analysis, root locus analysis).
MATLAB/Simulink modeling and simulation.
Mechanical dynamics and transfer function modeling.
Sensor integration (IMU/encoder) and real-time feedback control.
Embedded systems and hardware-oriented control logic.
Specifications:
Specifications:
Dual PID controller for flywheel stabilization and velocity regulation.
9-axis IMU.
Arduino Nano 33 IoT, SAM D21 microcontroller.
Key Takeaways:
Key Takeaways:
Achieved stability under payload variations and external disturbances with <5% overshoot and <2s settling time.
Gained hands-on experience bridging mechanical design and control theory.
Strengthened Understanding of feedbakc systems, system dynamics, and controller tuning.
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