DESIGN OF A CONTROLLER FOR A SELF-BALANCING MOTORCYCLE MODEL FOR LEARNING AND TEACHING PURPOSES

Abstract

This paper presents a method for designing a controller for a self-balancing motorcycle model aimed at supporting research, learning, and teaching purposes. The motorcycle's dynamic model is simulated and calculated using MATLAB software. Subsequently, a 3D model is designed with Autodesk Inventor software, and 3D printing technology is employed to fabricate the complete model. Finally, two controllers, PID and LQR, are implemented to balance the motorcycle. Experimental results show that the LQR controller provides better system response, allowing the motorcycle to balance stably at a tilt angle of ±8° and on a maximum slope of 40°. This research not only yields practical outcomes but also opens promising prospects for future technological applications and advancements.