Design of Self-Balancing Virtual Reality Robot Using PID Control Method and Complementary Filter

摘要

In this paper, a self-balancing virtual reality robot was designed. It is a type of robot that can maintain a upright position and is equipped with a camera for survey and exploration purposes. The self-balancing robot control system uses the principle of an inverted pendulum with two wheels. The system was connected to Android application as a means of streaming data from the camera module and as a guide for servo movement. This system was created using the CODESYS application installed on the Raspberry Pi 3B+. The main objective of this research is to implement a virtual reality self-balancing robot design with wheel movement using the PID control method and a complementary filter. The MPU6050 sensor and Complementary filter are used as feedback controls to estimate the robot relative upright position which is then calculated using PID to control the motor so that the speed and acceleration of the motor can be varied to keep the robot's balanced in its upright position.