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Two-wheeled balancing robot controller designed using pid

Junoh, Suhardi Azliy (2015) Two-wheeled balancing robot controller designed using pid. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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Two wheeled self-balancing robot, which is based on an inverted pendulum system, is dynamically stable but statically unstable. The robot involves various physics and control theories. This project describes the modelling of the two wheeled self-balancing robot, designs the robot controller using PID and implements the controller on the robot. In this project, an inertial measurement unit (IMU) is used, which combines accelerometer and gyroscope measurement in order to estimate and obtain the tilt angle of the robot. The PID controller is applied to correct the error between the desired set point and the actual tilt angle and adjust the dc motor speed accordingly to balance the robot. The result obtained shows that the PID controller is able to balance the robot acceptably but with some limitations. The simulation result of the model is compared with the developed hardware and the performance of the controller is analyzed and discussed. In addition, the PID tuning using heuristic method is also performed and an improvement can clearly be seen in terms of the robot balancing.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Mrs Hasliza Hamdan
Date Deposited: 24 Apr 2016 07:33
Last Modified: 24 Apr 2016 07:33
URI: http://eprints.uthm.edu.my/id/eprint/7850
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