Two-wheeled self-balancing robot using complementary filter and PID control algorithm | |
| Author | Ye Htet Aung |
| Call Number | AIT Caps. Proj. no.ME-17-07 |
| Subject(s) | Robotics Filters (Mathematics) PID controllers |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-17-07 |
| Abstract | This report contains the details of hardware designing, mathematical modeling and control- ling of two wheeled balancing robot. This report explains senor fusion using complementary filter, 3D CAD model designing, mathematical modeling of the system, analyzing the system and controlling the system. In this project, gyroscope and accelerometer is used the sense the robot tilt angle. Complementary filter is used to combine these two angle results to get more accurate tilt angle. Newtons law of motion and DC motor equation is used to find the math- ematical model of the whole robot. This model is analyzed in time domain and S domain using impulse response to determine the system stability. PID controller is used to control the whole robot. The first part of report contains the general overview of the whole project. The second part contains the reviewing the previous research works which related to this project and exploring the useful theory to apply this project. Third part contains the required flow chart of the whole project, method and designing the circuit diagram. Fourth part con- tains designing the 3D CAD model, building the robot hardware, theoretical analysis, and implementation the controller. Fifth and final parts contains the results and conclusion of the project. |
| Year | 2017 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-17-07 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Than Lin; |
| Examination Committee(s) | Manukid Parnichkun; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2017 |