THE GYROBOT

1. THE GYROBOT

2. ECE 496 - GROUP AMEET THE TEAM

3. Design Approach • Broke up the five member team into 2 teams: software & hardware. • Software team found the gains and simulink system that would control the gyrobot. • Hardware team obtained parts and assembled the gyrobot.

4. Mechanical Parts

5. Mechanical Assembly

6. Electrical Assembly (1)

7. Electrical Assembly (2)

8. Electrical Assembly (3)

9. Balance Subsystem

10. Balancing Gains (1) • H(s) =p2s/[-p1p2s^3–Kd2(p1+p2)s^3+p2p3s+Kd2p3] • Kd1(s+Kp1/kd1) = K(s+z1) 7.5  • s=-Kp1/Kd1=-7.5

11. Balancing Gains (2) • To obtain the gains, the different parts had to be measured and the following parameters had to be solved for: • P1 = Ilink,Q + ML^2 • P2 = Idisc,P • P3 = mgL/2 + MgL • They were then plugged into H(s) to find the gains.

12. Encoder Subsystem

13. Swing Up Subsystem

14. Switching Subsystem

15. Complete System

16. Interface

18. Problems • 5/8” threaded shaft instead of solid gave us a problem with encoder mounting on it. • Heat! The motor would heat up causing the gyrobot to act erratically  overshoot. This was solved by adding code to the swing up subsystem to reduce voltage to motor based on position of flywheel/motor at third swing.

19. Balance

20. Competition

21. END