Self-Balancing Bot Using Concept of Inverted Pendulum

摘要

Self-balancing robot is based on the principle of Inverted pendulum, which is a two wheel vehicle balances itself up in the vertical position with reference to the ground. It consist both hardware and software implementation. Mechanical model based on the state space design of the cart, pendulum system. To find its stable inverted position, I used a generic feedback controller (i.e. PID controller). According to the situation we have to control both angel of pendulum and position of cart. Mechanical design consist of two dc gear motor with encoder, one arduino microcontroller, IMU (inertial mass unit) sensor and motor driver as a basic need. IMU sensor which consists of accelerometer and gyroscope gives the reference acceleration and angle with respect to ground (vertical), When encoder which is attached with the motor gives the speed of the motor. These parameters are taken as the system parameter and determine the external force needed to balance the robot up. It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical. If the bot gets tilts by an angle, than in the frame of the wheels; the centre of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt.