12 research outputs found
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PERFORMANCE CHARACTERISTICS STUDIES OF IMAGE INTENSIFIER HAVING SHORT LUMINESCENCE DECAY TIME
Modelling, simulation and control of an electric unicycle
In this paper the outcomes from a one year honours project to design, build and control a self-balancing electric unicycle, known as the Micycle, are presented. The design of the system along with the associated mechanical and electrical components is presented. This is followed by a derivation of the system dynamics using the Lagrangian method which are simulated using Simulink. A linear control strategy to stabilize in the pitch direction is then proposed. Finally, a comparison between the control systems results from the Simulink simulations and experimental results from the physical system is presented.A. Kadis, D. Caldecott, A. Edwards, M. Jerbic, R. Madigan, M Haynes, B. Cazzolato and Z. Prim
Modelling, simulation and control of an electric unicycle
In this paper the outcomes from a one year honours project to design, build and control a self-balancing electric unicycle, known as the Micycle, are presented. The design of the system along with the associated mechanical and electrical components is presented. This is followed by a derivation of the system dynamics using the Lagrangian method which are simulated using Simulink. A linear control strategy to stabilize in the pitch direction is then proposed. Finally, a comparison between the control systems results from the Simulink simulations and experimental results from the physical system is presented.A. Kadis, D. Caldecott, A. Edwards, M. Jerbic, R. Madigan, M Haynes, B. Cazzolato and Z. Prim