Minor Project Presentation On Self balancing robot using Arduino Submitted in partial fulfillment of the requirements for the

award of degree of Bachelor of Technology In Instrumentation and Control

uide! Mr"#ineet $ahiya

Presented by! %&an&sha Tri&ha %n&it $ahiya +i&esh Singh

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INTRODUCTION

The aim of this project is to design and construct a robot that consists of a body and two wheels that would be able to balance on its own without human interaction. The accelerometer senses either static or dynamic forces of acceleration The sensor is to be combined with a micro controller to be used. The microcontroller must be programmed in a way so as the robot translates to maintain its balance on recei ing inputs from the sensor.

CO!"ON#NT$ U$#D%

&rdunio &Tmega ' IC. &D()*(( &ccelerometer )+,*D motor control module. , battery DC geared motors + wheels

&rduino &tmega ' IC

High-performance, Low-power AVR 8-bit Microcontroller 8k Bytes of n-!ystem !elf-"rogrammable #lash $%&' Bytes (("R)M *wo 8-bit *imer+,o-nters with !eparate "rescalar, ,ompare (.ternal an/ nternal nterr-pt !o-rces &0 "rogrammable +) Lines &8-lea/ "1 "2 )perating Voltages 32$-$2$V for A*mega8

The &rduino De elopment -oard

The &rduino !icrocontroller% &tmega '

&rduino ID#

&D()*(( &CC#)#RO!#T#R. /#&TUR#$

0 A.is sensing2 Low power %84 5A !ignal con/itione/ 6oltage o-tp-ts on a single monolithic ,2 Meas-res acceleration with a minim-m f-ll-scale range of 70 Meas-re the static acceleration of gra6ity in tilt-sensing applications, as well as /ynamic acceleration res-lting from motion, shock, or 6ibration2 (.cellent temperat-re stability

&D()*(( &CC#)#RO!#T#R CONN#CTION 0IT1 &RDUINO

ACCELEROMETER ALGORITHM

Connect $T2 32 y2 42 cc2 5ND pins to &nalog input of arduino Initiali4e serial communication $et pin mode "rint sensor alues "ass the alues through a low pass filter.

"ID controller

The "ID control signal will try to dri e the process to the desired reference set point alue. In the case of the two wheel robot2 the desired set.point alue is the 4ero degree ertical position.

PID ALGORITHM

$et reference point &ccelerometer readings as input Compare the sensor reading with set point #rror generated The feedbac6 loop eliminates error. The balanced output signal is sent to the )+,*D !odule.

/uture scope

It wor6s irrespecti e of irregularity of surfaces. The current day short distance usage ehicles can be substituted by them. It can be e3tensi ely used in military. The higher prototype.$#50&7 has a wide range of applications.

conclusion

Design and fabrication of the self balancing robot has been completed. &ccelerometer and )+,*D module has been successfully calibrated with &rduino -oard. The "ID Control algorithm is successfully implemented and the program has been simulated. /urther research and de elopments on

References
89: $ensor technology handboo6 by ;on $. 0illson 8+: -eginning &rduino by !ichael !crobert 8*: $egway Inc.2 +<<'2 simply mo ing http%==www.segway.com 8>: www.arduino.cc=tutorial 8?: -eginning &rduino by !ichael !crobert