Development of self balancing platform on mobile robot using PID controller

This thesis presents a development self-balancing platform mobile robot using PID controller. The platform has been designed using mobile robot kits including IMU and two servos, and controlled by an open source microcontroller with PID. An Arduino microcontroller, hobby grade servos, and a two-degr...

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Main Author:	Mat Ali, Mazita
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	http://eprints.uthm.edu.my/6669/1/24p%20MAZITA%20MAT%20ALI.pdf http://eprints.uthm.edu.my/6669/2/MAZITA%20MAT%20ALI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6669/3/MAZITA%20MAT%20ALI%20WATERMARK.pdf
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id	my-uthm-ep.6669
record_format	uketd_dc
spelling	my-uthm-ep.66692022-03-14T01:44:43Z Development of self balancing platform on mobile robot using PID controller 2013-06 Mat Ali, Mazita TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This thesis presents a development self-balancing platform mobile robot using PID controller. The platform has been designed using mobile robot kits including IMU and two servos, and controlled by an open source microcontroller with PID. An Arduino microcontroller, hobby grade servos, and a two-degree of freedom (axis) accelerometer and gyroscope have been used to create the controlled platform. The controller has been designed to maintain the platform at an initially selected angle when the support structure orientation changes. By using Matlab, the value of PID parameters i.e , Kp, Ki and Kd have been obtained and applied to the arduino. The software has been written with logic to convert the digital data from the accelerometer to an acceleration magnitude vector. The magnitude is then compared to a predetermined mathematical function to infer the angle of tilt of the platform. The angle of tilt is then converted to angle of rotation for the servos to act on. Experiment shows that the platform performed as expected. Overall, the platform design is validated based on the positional accuracy of the platform given the relatively low quality components used to create it. 2013-06 Thesis http://eprints.uthm.edu.my/6669/ http://eprints.uthm.edu.my/6669/1/24p%20MAZITA%20MAT%20ALI.pdf text en public http://eprints.uthm.edu.my/6669/2/MAZITA%20MAT%20ALI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6669/3/MAZITA%20MAT%20ALI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Mat Ali, Mazita Development of self balancing platform on mobile robot using PID controller
description	This thesis presents a development self-balancing platform mobile robot using PID controller. The platform has been designed using mobile robot kits including IMU and two servos, and controlled by an open source microcontroller with PID. An Arduino microcontroller, hobby grade servos, and a two-degree of freedom (axis) accelerometer and gyroscope have been used to create the controlled platform. The controller has been designed to maintain the platform at an initially selected angle when the support structure orientation changes. By using Matlab, the value of PID parameters i.e , Kp, Ki and Kd have been obtained and applied to the arduino. The software has been written with logic to convert the digital data from the accelerometer to an acceleration magnitude vector. The magnitude is then compared to a predetermined mathematical function to infer the angle of tilt of the platform. The angle of tilt is then converted to angle of rotation for the servos to act on. Experiment shows that the platform performed as expected. Overall, the platform design is validated based on the positional accuracy of the platform given the relatively low quality components used to create it.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mat Ali, Mazita
author_facet	Mat Ali, Mazita
author_sort	Mat Ali, Mazita
title	Development of self balancing platform on mobile robot using PID controller
title_short	Development of self balancing platform on mobile robot using PID controller
title_full	Development of self balancing platform on mobile robot using PID controller
title_fullStr	Development of self balancing platform on mobile robot using PID controller
title_full_unstemmed	Development of self balancing platform on mobile robot using PID controller
title_sort	development of self balancing platform on mobile robot using pid controller
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/6669/1/24p%20MAZITA%20MAT%20ALI.pdf http://eprints.uthm.edu.my/6669/2/MAZITA%20MAT%20ALI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6669/3/MAZITA%20MAT%20ALI%20WATERMARK.pdf
_version_	1747831081153855488

Development of self balancing platform on mobile robot using PID controller

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