Two-Wheeled Balancing Robot Controlled Using Android Device

Lee, Zi Hao (2015) Two-Wheeled Balancing Robot Controlled Using Android Device. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Two-Wheeled Balancing Robot Controlled Using Android Device 24 Pages.pdf Restricted to Registered users only until 26 January 2021. Download (499kB)

Abstract

Two wheels balancing robot is design based on inverted pendulum theory. An inverted pendulum is a pendulum that has its centre of mass above its pivot point. A normal pendulum is stable when hanging downwards but an inverted pendulum is inherently unstable and must be actively balanced all time to remain upright. The balance can be achieved by applying torque at the pivot point which moving the pivot point horizontally as part of a feedback system. The robot consists of a microcontroller (Arduino Due), sensor (5-DOF IMU), and a pair of motors (DC gear motor). The 5-DOF IMU is a sensor in combination of gyroscope and accelerometer for the purpose of sensing tilt angle. However, the gyroscope’s data tends to drift over time and accelerometer is affected by the gravity. As a result, the gyroscope’s data is accurate only for short instance and the accelerometer’s data is accurate for longer period. Therefore, both sensors’ data are combined to obtain an accurate result. The method used to filter and combine both sensors’ data is Complementary Filter. Gyroscope’s data is filter using High Pass Filter and accelerometer’s data is filter using Low Pass Filter. Then, both data are combined together to get an accurate result for the tilt angle of the robot. The signal of tilt angle is analyzed by Fuzzy Logic Controller and the robot will move to regain its balance based on the signal analysis. The robot move as the output of the controller but it is hard to regain balance due to the incomplete tuning parameters of the inputs and outputs of Fuzzy Logic Controller. The robot falls after it oscillates a few times trying to regain its balance.

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