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Two-wheeled self-balancing robot using the RASPBERRY PI

Two-wheeled self-balancing robot using the RASPBERRY PI / Tee Lee Keong
Robot beroda dua pengimbangan sendiri merupakan ciptaan yang terkini. Robot beroda dua yang pada asalnya tidak stabil distabilkan dengan mengalihkan pusat gravitinya di atas rodanya pada setiap masa. Keadaan ini dapat dilaksanakan dengan bantuan motor yang dipasang pada roda dan dipacu oleh sistem kawalannya. Sistem ini amat serupa dengan masalah pengawalan pendulum songsang. Projek ini melibatkan kedua-dua implementasi perisian dan perkakasan. Implementasi perisian melibatkan komunikasi Inter-Integrasi Litar (I2C) dengan Unit Pengukuran Inersia (IMU), penapisan data IMU dan sistem kawalan Proporsyen Integral Derivatif (PID). Implementasi perkakasan melibatkan motor, pemandu motor, IMU dan Raspberry Pi. IMU mengandungi accelerometer dan gyroscope yang memberi informasi mengenai sudut kecondongan yang dialami robot tersebut. Robot beroda dua pengimbangan sendiri merupakan sistem maklum balas kitaran tertutup yang mengawal sudut kecondongan dan motor dipacu untuk mencapai kawalan tersebut. Projek ini menggunakan sistem kalawan PID yang diimplimentasi dalam Python di Raspberry Pi untuk merealisasikan keadaan pengimbangan sendiri robot tersebut. Kecondongan sudut yang dialami robot pengimbangan sendiri diukur menggunakan IMU yang harus ditapis menggunakan penapis komplementari atau Penapis Kalman untuk menghilangkan gangguan elektrikal yang terdapat di dalam sistem. Dalam projek ini, penapis komplementari digunakan kerana ia tidak kompleks diimplementasi dan boleh berfungsi dengan baik. Robot beroda dua pengimbangan sendiri yang dibuat untuk projek ini berjaya dan mampu mengimbangkan diri sendiri selama 3 saat. _______________________________________________________________________________________________________ The two-wheeled self-balancing robot is a very recent invention where a robot with two-wheels which is inherently unstable is kept stable by shifting its centre of gravity above the wheels at all times. This is done with the help of motors connected to the wheels which is driven by a control system. This system is very similar to the control problem of an inverted pendulum. This project has both software and hardware implementation where the software works are on the Inter-Integrated Circuit (I2C) communication of an Inertial Measurement Unit (IMU), filtering of the IMU data and the Proportional Integral Derivative (PID) control system. The hardware consists of the motors, motor drivers, IMU and the Raspberry Pi. The IMU itself consists of an accelerometer and gyroscope which provides information about the tilt angle of the robot. The self-balancing robot is a closed loop feedback system where the tilt angle is being controlled and the motor at the wheels are actuated to achieve this. This project uses a PID control system implemented on Python in the Raspberry Pi is used to realize the self-balancing property of the robot. The tilt angle of the self-balancing robot is measured using IMU which must first be filtered using a complementary filter or a Kalman Filter to remove the noise present in the system. In this project, the complementary filter is used as it is not as complex in implementation and works well. The self-balancing robot created for this project is successful and is able to balance itself for a duration of 3 seconds.
Contributor(s):
Tee Lee Keong - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875007972
Language:
English
Subject Keywords:
self-balancing; robot; two-wheels
First presented to the public:
6/1/2015
Original Publication Date:
3/20/2019
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 80
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2019-03-20 16:26:37.589
Submitter:
Mohd Jasnizam Mohd Salleh

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Two-wheeled self-balancing robot using the RASPBERRY PI1 2019-03-20 16:26:37.589