PID controller for 2 wheel

robot
 Group members

Name ID

NUHEL, AHSAN KABIR 18-36783-1

Kazi Shahadat Kabir 18-36341-1
Debanjolly Mollik 18-37458-1
Tasdid Hasan 18-36423-1
Sabrina Binte Farid 18-37766-1
Shakibul Islam 18-36722-1
Samiul Azim 18-36023-1
 INTRODUCTION

 The research on a two-wheel inverted pendulum, which is commonly known as the self-balancing
robot, has gained momentum over the last decade in a number of robotic laboratories [1-4].
 The dynamics of such a system are quite complex, so its motion planning presents a challenge [5-6].
Various control strategies had been proposed by numerous researchers to control the two-wheeled
balancing robot such that the robot is able to balance itself [7].
 Therefore, a two wheeled balancing robot needs a good controller to control itself in upright position
without the needs from outside. Nowadays various types of controllers were implemented on two
wheeled balancing robot for example Linear Quadratic Regulator (LQR), Pole-Placement Controller,
Fuzzy Logic Controller (FLC), PID Controller [8].
WORKING PRINCIPLE OF PID

 The purpose of a PID controller is to force feedback to match a setpoint, such as a thermostat that
forces the heating and cooling unit to turn on or off based on a set temperature.

Fig 1: PID control

WORKING PRINCIPLE OF PID

 Proportional tuning involves correcting a target proportional to the difference. Thus, the target value is
never achieved because as the difference approaches zero, so too does the applied correction.
 Integral tuning attempts to remedy this by effectively cumulating the error result from the "P" action to
increase the correction factor. For example, if the oven remained below temperature, “I” would act to
increase the head delivered. However, rather than stop heating when the target is reached, "I“ attempts
to drive the cumulative error to zero, resulting in an overshoot.
 Derivative tuning attempts to minimize this overshoot by slowing the correction factor applied as the
target is approached
BLOCK DIAGRAM OF PID CONTROLLER

Fig 2: Principle structure of the control system

FLOW CHART OF PROJECT

Fig 3:FLOW CHART OF PROJECT

Block diagram of the whole system

Fig 4: Block diagram of the whole system

Schematic Diagram of the PID controller

Fig 5: Schematic Diagram of the PID controller

Simulink circuit diagram

Fig 6: Simulink circuit diagram

Estimated OUTPUT AND MEASURED OUTPUT IN A NUTSHELL

Fig 7: Estimated Vs Measured output

Final Output of two different wheel in a box
Tuned response curve
CONCLUSIONS

 A two-wheeled autonomous mobile robot system has flexibility, by means of that various control
algorithms can be performed easily and it has Qt-Creator based computer interface when user-
friendliness is taken into account.
 It has been aimed that robot can balance itself in upright position and to achieve that various
controllers such as feedback P, PI, PID control have been implemented.
 PID control method is used to balance a robot itself.
 The designed visual interface program and robot system has balanced itself successfully helps to
determine Various controller parameters
Thank YOU !!