DESIGN AND IMPLEMENTATION OF TWO WHEELED SELF BALANCING ROBOT USING PID CONTROLLER

Abstract

The dynamics of the two-wheeled self-balancing robot system is similar to that of the inverted pendulum, which is unstable and prone to tip over. The inverted pendulum is a classic problem in dynamics and control theory, and is used as a benchmark for testing control strategies and algorithms. The system includes an angle sensor, two geared DC motors, two motor drivers and an Arduino. The basic idea is to use the torque generated by the motors to maintain the structure’s vertical equilibrium state. In this project the model is obtained by employing physical laws. This model despite its simplicity can represent a typical real system such as Segway Personal Transporter. The system is nonlinear and unstable, but can be linearized for small angles. The Arduino microcontroller acquires the readings from the angle sensor and compare it with the desired angle. A PID algorithm computes the exact pulse width modulated signal which is fed to the motors. The instant response of the system has been plotted using MATLAB software, by interfacing Arduino with computer. System response to different values of controller parameters were obtained and the parameters that gave the best performance of the system were chosen in the final implementation. The results showed that the model is not yet reliable. The reasons for this are discussed and recommendations for future development are list