One Wheel Balancing Robot with Reaction Wheel

AD: PCBA from $0 (Free Setup, Free Stencil): Follow JLCPCB FB&PM JLCPCB to get a $10 SMT coupon Last time I built a device that balances using a reaction wheel. I described how I used a PID controller with an extra observation controller to make it balance, so check out the previous video for more info on that. A reaction wheel moves a mass in either direction at a varying velocity, in order to balance a device at a set angle which is measured by an inertial measurement unit. The reaction wheel can only exert a force when it accelerates or decelerates, so if we try to balance off centre then the wheel would have to constantly increase in velocity until it reaches its limit, at which point the device can no longer balance. I built a device with one reaction wheel which balances in only one axis. However, some devices use multiple reaction wheels to balance in multiple axes. I’ve also built a number of robots that balance using Control Moment Gyroscopes.