Project Proposal.docx

EE 361: Control Systems Spring 2019 Project Proposal Balancing on two wheels

Huma Sanaullah, BSEE16013 Mahnoor Malik, BSEE16022 Syed Wajih ul Hassan, BSEE16054

Abstract The goal of this project is to build a two wheel balancing hardware setup. We will design a controller that would control the rotation of two wheels to balance the robot. These types of robots can be based on the physical problem of an inverted pendulum. The system requires active control in order to be stable. Using open source microcontroller Arduino Uno and reliable angular and positional data the system can be made stable by implementing a controller

Block Diagram

Hardware Setup        

The micro controller board used in this project is the Arduino Uno running on the ATmega328. The board is used for rapid prototyping of interactive applications through sensors monitoring the outside world. Some measurement unit is needed to determine the angle deviation, ψ and the angular velocity ψ˙. The gyro can sense the angle velocity in three directions and the accelerometer senses angular. Two DC-motors were assigned for this project. The motors are equipped with motor driver. Our structure will be stable enough to endure fast rotation of the beam Strong enough to support the weight of all the components Lightweight enough so that the response is not too slow Dc motor will rotate the wheels and balance the robot An appropriate battery will be used.

Mathematical model

State space Model

References 1. https://kth.diva-portal.org/smash/get/diva2:916184/FULLTEXT01.pdf Design and control based on the concept of an inverted pendulum by HELLMAN, HANNA SUNNERMAN, HENRIK. Bachelor’s Thesis in Mechatronics. 2. MODELING OF TWO-WHEELED SELF-BALANCING ROBOT DRIVEN BY DC GEARMOTORS P. FRANKOVSKÝ, L. DOMINIK, A. GMITERKO, I. VIRGALA Department of Mechatronics, Faculty of Mechanical Engineering Technical University of Košice 3. O. Jamil, M. Jamil, Y. Ayaz and K. Ahmad, "Modeling, control of a two-wheeled selfbalancing robot," 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), Islamabad, 2014, pp. 191-199.

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