Self Balancing Two Wheel Robot

Basic AimThe basic aims of our project are :

To demonstrate the methods and techniques involved in balancing an unstable robotic platform on two wheels.

To design a complete digital control system with the state space model.

AbstractThe purpose of our project is to balance a robot automatically using motors, sensors and a microprocessor.

The use of a pair of motors is to keep the robot in the upright position by using an accelerometer and gyroscope sensors. This provides a classic inverted pendulum.

Generally the accelerometer sensor is noisy, but they are accurate over a short period of time.

By using the sets of results obtained from the sensors and the calculated results, it can solve the problem of the classic inverted pendulum, and therefore the robot can be kept in the upright position without falling down.

Difference between balanced and unbalanced drives

ApplicationsRocket propeller works on the principle of inverted pendulum.

Segway Robot can be used in such a way as to travel forward or backward.

They can even be used as vehicles by humans.

The current day short distance usage vehicles can be substituted by them.

Applications

System ArchitectureThe robot can be classified into

three main parts.

Classification

Inertial SensorsLogical

Processing UnitActuators

Inertial Sensor UnitThe Inertial Sensor Unit comprises of gyroscope and

accelerometer, which reads the angular velocity and angular

position.

ISU

Gyroscope Accelerometer

Actuator UnitThe Actuator Block has two drivers that receive analog voltage signal

from controller and produce current signals to drive the motors at the

desired torque.

As the robot tilts, we require to apply a restoring force to return the robot to vertical position.

Logical Processing UnitThe logical processing unit

performs the following functions

in our project:

ADC conversion of outputs of Rate Gyro and Accelerometer.Processing the input signals.Periodic recalibration of gyro.Control of actuator unit.

Block Diagram

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