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Abstract- the research on two wheel self-balancing robot is continuously going to increase due to its functionality and reliability. This thesis discusses the process involved in designing the robot physical structure, the mathematical modeling of the system (two wheel self-balancing robot), designing of PID controller for controlling and balancing the robot. In addition to these some simulation has been done to check and observe responses of different components. The overall system can fall forward and backward. The system is nonlinear and unstable system. So the controlling due to nonlinearity and un-stability is a very big challenge. Designing a controller for such type of system is always challenging. The system is controlled by accelerometer reading, tracing the set point and giving signal to actuators according to error (set point difference). Accelerometer gives the reading and from this value an error is calculated. This error is further processed using PID controller and generates signal (PWM) to cater (remove) the error as much as possible. The optical encoders on the servo motors tell the value that how much the motors move and this reading taken by the microcontroller. The accelerometer also giving the value that how much robot fall forward or backward then microcontroller gives PWM to motors to balance the robot.
Index Terms-PID, Two Wheel Robot, PWM.
(ProQuest: ... denotes formulae omitted.)
INTRODUCTION
Robots are playing a leading role in industries in the twenty first century. Robotics technology is becoming a part of every field; it gives enormous benefits and profits to many nations. Recently, robots have been used in many other environments like the home, office, shops and in restaurants etc. they are being used as guard robots, services robots, entertaining robots, care robots [1].
Intelligent robots require particular mechanism for particular purpose of the robot. So there is a need to research the mechanically stable implementation of each type of mechanism.
Two wheel self-balancing robot is the robot which has the ability to balance itself [2]. This type of robots has two wheels and a vertical body/frame which should be vertical for balancing. It is just like a human, which balance itself when it can fall forward as well as backward except that it has two wheels instead of feet. This system is...