Control Unit for a Two Wheel Self Balancing Robot

This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most fascinating applications of Inverted Pendulum System. In this paper, PID, LQR and Fuzzy logic controllers are discussed. Also,0 the modeling and algorithms of the robot simulation is discussed. The primary objectives of this paper is to discuss about the building of a robot model in ROS and Gazebo , experimenting different control theories on them, documenting the whole process with the analysis of the robot and comparison of different control theories on the system.

Two wheeled balancing robots are an area of research that may well provide the future locomotion for everyday robots. The unique stability control that is required to keep the robot upright differentiates it from traditional forms of robotics. The inverted pendulum principle provides the mathematical modelling of the naturally unstable system. This is then utilized to develop and implement a suitable stability control system that is responsive, timely and successful in achieving this objective. Completing the design and development phase of the robot requires careful consideration of all aspects including operating conditions, materials, hardware, sensors and software. This process provides the ongoing opportunity of implementing continued improvements to its perceived operation whilst also ensuring that obvious problems and potential faults are removed before construction. The construction phase entails the manufacture and assembly of the robots circuits, hardware and chassis with the software and programming aspects then implemented. The later concludes the robots production where the final maintenance considerations can be determined. These are essential for ensuring the robots continued serviceability.

Proceedings of the 18th LACCEI International Multi-Conference for Engineering, Education, and Technology: Engineering, Integration, And Alliances for A Sustainable Development” “Hemispheric Cooperation for Competitiveness and Prosperity on A Knowledge-Based Economy”, 2020

This paper describes the modeling, instrumentation and control of a Two Wheeled Automatic Balancing Robot (TWABR). This mechatronic system has two independently driven wheels to balance in the gravity center above the axis of the wheels´ rotation. Its dynamic behavior has also served to illustrate fundamental concepts of stability, nonlinear dynamics, and modern control theory. The TWABR was designed using the ESP32 microcontroller as a digital control unit and the MPU6050 Inertial Measurement Unit as the main sensor. The dynamic model of the TWABR was analyzed through its representation in nonlinear differential equations and its linearized representation in the state space. With the linearized mathematical model around the equilibrium point, a classic PID controller and an optimal LQR controller were designed and simulated. The control objective was to balance the TWABR in the vertical equilibrium position, even when it is subjected to disturbances. The two control algorithms were simulated in the Matlab / Simulink software platforms and implemented digitally on the physical TWABR system. As a result, the experimental comparison of the performance of the implemented controllers was performed, where its stabilization, control robustness and adequate dynamic response at the equilibrium point of the TWABR were evaluated.

2017

Recently, many investigations have been done regarding to the problems of controlling two-wheeled self-balancing robot. This paper reviewed based on five previous journals in order to find out which method is suitable to design a self-balancing bicycle and it will focus on the control system of the structure. There are several ways to design an efficient self-balancing bicycle which are by using control moment gyroscope (CMG), mass balancing, steering control and reaction wheel. Based on previous research, the usage of CMG is the suitable choice since it can produce large amount of torque, it has no ground reaction forces, and the system can be stable even when the bicycle is stationary.

Vietnam Journal of Mechanics, 2012

In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

International Journal of Engineering Research and Technology (IJERT), 2021

https://www.ijert.org/design-and-development-of-inline-two-wheeler-self-balancing-electric-bike https://www.ijert.org/research/design-and-development-of-inline-two-wheeler-self-balancing-electric-bike-IJERTCONV9IS03112.pdf The two wheel vehicles during operation face the issue of balancing especially with untrained rider. Lot of time and fuel could be wasted by learners of the two wheel vehicle in balancing of the vehicle during training period. So, the main objective of this work is to design and develop a self-balancing electric two wheel vehicle which can balance itself with or without rider even vehicle may be in motion or stationary. The controller has two different objectives: to sense the velocity of vehicle in order to operate the actuator for manipulation of rake angle and other is the angle sensor to manipulate the steering angle with respect to vertical. The simultaneous adjustment of these two sensors will maintain the motorcycle stable. The actual set up will be experimented further aiming to balance the vehicle in different condition of loads.

International Journal of Electrical and Computer Engineering (IJECE), 2022

This study suggests a strategy for creating a low-cost two-wheeled balancing scooter with a simpler system that can work similarly to the commercial ones on the market. A simple system will help people to understand how it works and how to build it. The mechanical parts were made from simple hollow bar iron. Wheelbarrow wheels were attached to two electric bicycle motors, and the controller was using an 8-bit microcontroller running a proportional derivative (PD) controller. PD controller only is not enough to run the scooter with a passenger smoothly. Some strategies were added to overcome some non-linear problems due to the use of low-cost components. Finally, the system is successfully built and can be ride by a 65 kgs weight of rider. The scooter can turn left or right, and even to make a 360-degree spot-rotation.

2022

In this research paper, an investigation was conducted into the development of mechatronic systems for two-wheeled vehicles, with a primary focus on a self-balancing motorcycle. The self-balancing motorcycle, which is currently in the developmental phase, has a primary objective of enhancing traffic safety by eliminating the requirement for external assistance. The study delves into its design, programming, and potential for further enhancement and eventual commercial utilization. Fundamental equations of bicycle dynamics were derived, and a PID controller, guided by MEMS sensor data, was employed for steering control. The paper encompasses the presentation of experimental tests and refinements to the feedback system, providing valuable insights into the system's overall performance. The research embarks on the intersection of technology, vehicle dynamics, and safety, laying the groundwork for future developments in these interconnected domains.

International journal of engineering research and technology, 2021

The two wheel vehicles during operation face the issue of balancing especially with untrained rider. Lot of time and fuel could be wasted by learners of the two wheel vehicle in balancing of the vehicle during training period. So, the main objective of this work is to design and develop a self-balancing electric two wheel vehicle which can balance itself with or without rider even vehicle may be in motion or stationary. The controller has two different objectives: to sense the velocity of vehicle in order to operate the actuator for manipulation of rake angle and other is the angle sensor to manipulate the steering angle with respect to vertical. The simultaneous adjustment of these two sensors will maintain the motorcycle stable. The actual set up will be experimented further aiming to balance the vehicle in different condition of loads.

IRJET, 2020

Stabilization on a single wheel vehicle is a complex task. This paper covers the design, testing, and building of a prototype of a self-balancing vehicle (EUW) capable of carrying a single rider by maintaining the center of gravity of vehicle and rider. The project aimed to design a compact short commute vehicle running on a single electric-motor powered wheel. The capacity of Hub-motor is 350W and the maximum speed can achieve up to 25 km/h. This self-balancing characteristic is achieved by a gyro sensor that reports data of the vehicle body position to a microcontroller (Arduino) and this microcontroller (Arduino) will control the rotation, direction, and speed of hub motor of the vehicle. The main element of this kind of vehicle is the gyro sensor because without it the vehicle is not able to maintain balance.