TWO WHEEL SELF BALANCING

ROBOT
Group information

Amit Pol TUS3S171812

Anurag Singh TUS3F161748
Vivek Gupta TUS3F161724

PROJECT MENTOR : PROF. UMESH MANTALE

Abstract

 This project will undertake the construction and

implementation of a two-wheeled robot that is capable of
balancing itself.
 The structural and mechanical components of the bot is such
that it is an unstable system.
 Information about the angle of the device relative to the ground
(i.e. tilt) will be obtained from sensors on the device.
 Information from the sensors will be fed back to the controller
which will run an algorithm on the input and produce the
correcting factor for stabilizing the robot.
Introduction
The image is to give an
idea of how the robot will
look.
Structural components
include wheels,chasis,and
battery pack.
As the height increases
the center of gravity of
robot increases in height
Hence the robot becomes
more stable
Need and scope
Self balancing robot can be immensely need in industrial
and automation process.
Add encoders to the robot to allow it to measure and
control its speed.
Implement automatic tilt calibration so that the robot will
always remain balanced.
Implement manual remote steering of the robot.
Add a light sensing system to the bottom of robot.
Objective

To obtain dynamic model and a working prototype of two

wheel self balancing robot.
To stabilize the unstable system by maintaining the upright
position.
To obtain the minimum settling time.
Block Diagram
Problem Statement

 While legged robots are able to step over obstacles, they

are more complex to design and control due to the greater
number of degrees of freedom.
Wheeled robots are more energy efficient, tend to have a
simpler mechanical structure.
The two balancing robot is an application of the inverted
pendulum .
The inverted pendulum system is naturally unstable.
To achieve stability a controller needs to be designed and
implement on the robot to balance the inverted pendulum.
Literature Review
L. I. U. Kun, B. A. I. Ming, and N. I. Yuhua, “Two-wheel
self-balanced car based on Kalman filtering and PID
algorithm.”
Some of the work done on the two wheel balancing robot
includes; Nbot by David Anderson, Joe le-Pendule by
Felix Grasser , Legway by Steve Hassenplug, Equibot by
Dan Piponi and the Segway by Dean Kamen.
The Nbot uses a total of four sensors to measure the states
of the system
Joe Le-Pendule robot has two decoupled control systems.
It has a controller that balances the robot and controls its
forward and backward movements.
 Another controller controls movements about its vertical axis.
The robot can spin around its vertical axis and make u-turns.
 The legway was built by Steve Hassenplug and he used Lego
bricks to build the robot.
 This robot uses Infrared Proximity detectors to deduce the tilt
angle of the robot.
 Another robot similar to the Legway is the Equibot by Dan
Piponi.
 This one uses the Sharp GP2D120 Infrared ranger to measure
the distance to the ground.
 From the distance to the ground the microcontroller deduces
the tilt angle of the robot and where the robot is falling
 D. Kamen, “Segway,” 2001. [Online]. Available:
www.segway.com. [Accessed: 25-Apr-2015].
 The segway is a human transport system that has been
produced by Dean Kamen.
 The segway has got five gyroscopes and two more tilt sensors.
 The segway only needs three gyroscopes ,the other two
gyroscopes are included for redundancy; this means that the
signals from these sensors are fused with other sensor signals
to produce a better and more reliable signal
 The segway can move forward, backwards, turn and spin
around.
 To turn the Segway, the inner wheel is driven at a speed
slower than the outer wheel to turn the Segway and to spin the
wheels are driven in opposite directions.
Depth of analysis and design
Final dynamic equations:
Defination:
Transfer functions represent the input output
relationship of the system ;they allow to simplify
complicated systems using block diagram
Transfer functions:
PROPOSED ALGORITHM
If we want to keep some variable steady (in this case, the
position of the robot) we use special algoritm called a PID
(proportional integral derivative).
It has parameters called Kp, Ki, and Kd.
PID provides correction between the desired value (or
input) and the actual value (or output).
The PID controller reduces the error to the smallest value
possible by continually adjusting the output.
The MPU6050 reads the current tilt of the robot and feeds
it to the PID algorithm, which performs calculations to
control the motor and keep the robot in the upright
position.
Mathematical equation:

The overall control function can be expressed

mathematically as
Y(s) is output and r(s) is reference input
Steps to tune gain values

Make Kp, Ki, and Kd equal to zero.

Adjust Kp. Kp should not be less or low. A good enough
Kp will make the robot oscillate a little.
Once the Kp is set, adjust Kd. A good Kd value will lessen
the oscillations until the robot is almost steady.The robot
can stand upright if we set the correct value of Kp.
Lastly, set the Ki. The robot will oscillate when turned on,
even if the Kp and Kd are set, but will stabilize in time.
 The correct Ki value will shorten the time it takes for the
robot to stabilize
Hardware Requirements

Arduino uno
Stepper motor
Stepper motor driver
MPU6050
Wheels
Bluetooth (HC05)
Battery
Wires & connectors
Software Requirements

Arduino ide
Android studio
Application and industry relevance
It can be used to reduce the workload and gives optimistic
result.
It is also used in Segway and self balancing scooter etc.
It can also be used as a vehicles by human.
Segway –Ninebot is the global leader in Segway
transportation and has expanded its portfolio i.e it is
producing smart segways.
It can also be used in conjusted environment to commute .
COST ESTIMATION

HARDWARE QUANTITY COST

Arduino uno 1 450
Stepper motor 2 1200
Stepper motor driver 2 500
MPU6050 1 150
Bluetooth (HC05) 1 350
Wheels 2 250
Battery 1 800
Wires and connectors - 200
TOTAL 3900
Conclusion

After the successful execution we would be able to

balance the robot on two wheels.
We would further try to tune and refine the algorithm and
increase the stability .
If time will permit we will try to get remote access to the
robot .
References

https://en.wikipedia.org/wiki/Category:Two-
wheeled_balancing_robots
https://maker.pro/arduino/projects/build-arduino-self-
balancing-robot
https://circuitdigest.com/microcontroller-projects/arduino-
based-self-balancing-robot
https://www.instructables.com/id/Arduino-Self-Balancing-
Robot-1/
https://create.arduino.cc/projecthub/electronicprojects/self-
balancing-robot-190daf