Two Wheel Balancing Robot

Please visit http://zeltom.com/twbr.aspx for more information. The tilt angle is measured using a light emitting diode and a phototransistor (no accelerometer and gyroscope yet). The control algorithm is implemented using a dsPIC30F3012. The wheels are driven by two dc motors.

questions or comments?

contact us at

damla1967@gmail.com

Category:

Science & Technology

Tags:

• two
• wheel
• balancing
• robot
• inverted
• pendulum
• automatic
• control
• electronics
• dsPIC
• segway

[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?).

[skydiverangel]

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

[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]

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

[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...