Two Wheel Balancing Robot

[dvdvideo1234]

I had a project like this its pretty cool !

[skydiverangel]

@dvdvideo1234

Thank you and good luck with your project.

[smyra0ozgun]

Mükemmel.. tebrikler..

[skydiverangel]

Tesekkur ederim.

[moballeg]

It is a PID control. the feedback is from an infrared pulsed pair, also almost the same as yours. The controller stabilize the system, but it begins to go back and forth solwely and the amplitude increases. finally the motors reach the max speed and the controller diverges.

[skydiverangel]

Your controller does not stabilize your system. Your description indicates that your closed-loop system has a pair of poles in the right-half plane near the imaginary axis. Tune your controller gains (decrease the integral gain or increase the derivative gain) to see if it solves the problem. Two other things to check: (1) the noise level (the derivative term amplifies noise) and (2) your motors maximum speed (are they fast enough to stabilize the system?).

[moballeg]

I am trying to do the same, but the problem is that the amplitude of the side to side movement increases by time and finally makes the system unstable. may I ask what is your solution to this problem?

[skydiverangel]

What type of controller are you using? How do you measure the tilt angle?

[gan3ram4scientist]

Making a turn , moving around would be difficult? or the system wud take care as it did in the levitation project ,where u induced sme disturbances and the control system behaved wisely...

[skydiverangel]

Although it is not implemented, the system is robust enough to do some maneuvers.

[Batjocura2]

wow, superb. Your device can be used to help people with disabilities to stay on their feet. it's absolutely amazing what simple electronics and brilliant mind can do. Congrats

[skydiverangel]

Thank you very much.

[ElectronicSculptures]

Well done. One of youtube's best.

[skydiverangel]

Thank you very much.

[rroge5]

woah this is so cool

[skydiverangel]

Thank you.

[inamkhan1001]

Hello we have to construct the inverted pendulum via potentiometer how can i model the transfer functions i am just a lay man please guide me.

[inamkhan1001]

we have also a similar kind of project in control subject whats it basic can u guide me please.......???????????????

[skydiverangel]

First develop a model for your system (differential equations or transfer function) and then design a controller to stabilize the system. If you have specific questions, please email me.

[crazynanoman]

Skydiverangel, Thank you. Would it be possible to get a detail photo of the LED/Phototransistor detail? I would really like to make my robot work better with optical components rather than expensive gyro/accel stuff.

[skydiverangel]

Yes, it would. Please contact me via the email at the end of the video and I will send some photos.

[tHaH4x0r]

I am also interested in the techniques you used... maybe another video with details? :)

[skydiverangel]

Please email me if you have specific questions.

[crazynanoman]

Can you explain a little more detail about how you hooked up the LED and phototransistor? I currently use a sony infrared sensor but its response is not fast enough nor very linear.

[skydiverangel]

The LED and phototransistor are intentionally mounted slightly off from vertical to detect the tilt angle. The signal generated by the phototransistor is not a linear function of the tilt angle. This nonlinear characteristic is compensated in the control algorithm.