Beruflich Dokumente
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DO THANH CUONG, DO HOANG NGAN MI, PHAM PHU THUAN, LE VIET VINH, PHAM PHUONG VU.
Abstract:Two wheel seft-balancing is designed based on is essentially solving the classic inverted pendulum problem. While the math is a bit complex, the essence is quite
simple: the goal of the control loop is to adjust the wheels position so that the inclination angle remains stable at a pre-determined value- When the robot starts to fall in one
direction, the wheels should move in the falling direction to correct the inclination angle.
1. Introduce: 4. PID:
The idea of this project was to design and construct a robot that PID controller:
consists of a body and two wheels that would be able to balance on its own. This () = () + 0 () + () (5)
behavior is similar how a segway (a new mode of transportation) works. For the PID parameter tuning, project follow Ziegler-Nichols method
Projects goal was to have a working finished product a robot that, without that you can find on wikipedia. Following table:
human interaction, could balance on two wheels.
Making a self-balancing robot is essentially solving the classic
inverted pendulum problem. While the math is a bit complex, the essence is quite
simple: the goal of the control loop is to adjust the wheels position so that the
Figure 3. Ziegler-Nichols method
inclination angle remains stable at a pre-determined value. When the robot starts
to fall in one direction, the wheels should move in the falling direction to correct
the inclination angle. And when the deviation from equilibrium is small, we
should move gently and when the deviation is large robot should move more
quickly.
To simplify things a little bit, the robots movement to be on a straight
line, only forward and backward motion but no turning and thus both wheels are
moved at the same speed in the same direction.
Figure 4. Control method
2. Estimating the Inclination Angle with an Accelerometer The orange boxes depict a generic sensor feedback loop back to a
Suppose that the robot is a stationary position illustrated below: controller that adjusts the system input based on the difference between the
reference and the measured output. The blue boxes depict the control approach for
The inclination angle can be calculated as: the self-balancing robot.
5. Design:
= 1 = 1 = 1 (1)
2 +2 This section presents the robots software and hardware architecture.
A. Software architecture:
: the accelerometer reading along its x axis.
: the accelerometer reading on its y axis.
g: the gravitational constant.