Controlling An-Inverted Pendulum System Using A Microcontroller
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Date
2022-07-24
Authors
Mohamad Zahari, Ahmad Amirul
Journal Title
Journal ISSN
Volume Title
Publisher
Universiti Sains Malaysia
Abstract
A self-balancing robot is basically an inverted pendulum. It can balance better if the
centre of mass is higher than the wheel axels. A greater centre of mass equals a higher moment
of inertia, which equals a lower angular acceleration. Particularly during movement, a well-implemented TWSB robot is able to maintain an upright stance. The majority of papers focus
on either creating controllers through the implementation of low-level microcontroller units,
such as Arduino Uno, or on dynamic modelling features in which simulation findings are used
to decide results rather than real-world applications. This study will concentrate on comparing
simulation results to the actual installation of a TWSB robot since fewer researchers have done
so. This project intends to study the performance of the produced TWSB robot, examine the
applicability of MATLAB to the programming of the TWSB robot, and compare the
performance of the TWSB robot to the simulation results from MATLAB. Concurrently, a
comparison is made between the present project and earlier work to assess the advantages and
disadvantages of each. In this instance, a TWSB robot is constructed utilising an Arduino UNO
microcontroller and a PID algorithm controller. The MPU 6050 gyroscope is calibrated before
being mounted to the robot in order to maximise the accuracy of the acquired results by
determining offset values. MATLAB is used to establish the appropriate control term values
for the PID controller in order to replace the human tuning procedure and facilitate the
stabilisation of the TWSB robot. According to the results, control term values of Kp = 64, Ki
= 45, and Kd = 1.3 are adequate to maintain the posture of the TWSB robot, enabling it to
maintain stability on a variety of surfaces, including flat and uneven surfaces, with or without
the application of forces and obstructions.