Salim khan

Electronic Information Engineering

Super Visor Prof Bai Lin
2 Wheel Balancing robot

2 Wheel Balancing robot

The Segway is a two-wheeled, self-balancing, battery powered
electric vehicle invented by Dean Kamen. It is produced by Segway
Inc of New Hampshire, USA. The name Segway is a homophone of
the word segue, meaning smooth transition. PT is an abbreviation
for personal transporter.
Computers and motors in the base of the device keep the Segway
PT upright when powered on with balancing enabled. A user
commands the Segway to go forward by shifting their weight
forward on the platform, and backward by shifting their weight
backward. The Segway detects, as it balances, the change in its
center of mass, and first establishes and then maintains a
corresponding speed, forward or backward. Gyroscopic sensors and
fluid-based leveling sensors detect the weight shift. To turn, the
user presses the handlebar to the left or the right.

Balancing a small platform

Working Principal
.
0
X -X
Motor pushes the
other way based on
the angle.

Angle
measurement
based off the
accelerometer
reading.
Gain is a constant
based on your setup.
Hardware
Arduino Uno (8-bit Atmel AVR microcontroller)
L298 H-bridge ( motor control)
Actuators (Gear Dc Motors ) 6 V: 440 RPM and
250 mA free-ru
Tyres (Rc car tyres )
IMU (MPU-6000/6050 Six-Axis (Gyro +
Accelerometer) MEMS MotionTracking
Devices)
IMU-GY521
The MPU-6000/6050 devices combine a 3-axis
gyroscope and a 3-axis accelerometer on the same
silicon die together with an onboard Digital Motion
Processor (DMP) capable of processing complex
9-axis MotionFusion algorithms.
user-programmable gyro full-scale range
of 250, 500, 1000, and 2000/sec
(dps) and a user-programmable
accelerometer full-scale range
of 2g, 4g, 8g, and 16g.
IMU

Block Diagram of the System

Filters
Why do we need filters.
The raw data from the IMU has very much noise.
With the time the gyro drifts and that will lead the robot to
fail.

Accelerometer and Gyro
The problem with accelerometers
As an accelerometer measures all forces that are
working on the object, it will also see a lot more
than just the gravity vector. Every small force
working on the object will disturb our
measurement completely. If we are working on
an actuated system (like the Segway), then the
forces that drive the system will be visible on the
sensor as well. The accelerometer data is reliable
only on the long term

Kalman Filter







The Kalman filter estimates a process by using a form of feedback control. The
states of the process is estimated by the filter at a certain point and then
obtains a feedback of noisy measurements. Therefore, the equations for the
Kalman filter fall into two groups, the time update equations and
measurement update equations
Kalman Pros and Cons
Theoretically ideal filter for combining noisy
sensors to get clean, accurate estimates.
Cons
Complex algorithm
Hard to implement
Would kill processor time.

The complementary filter

Complementary Filter
Angle = 90%*(Angle + Angular Velocity*dt) + 10%*(Non Filtered Angle)
Clean
Angle
High Pass
Constant
Previous
Clean
Angle
Angular
Velocity
Reading
from Gyro
Time Rate
of
sampling
Low Pass
Constant
Raw Angle
Reading from
Accelerometer
This integration converts
angular velocity to angle.
Low Pass High Pass
Pros and cons of complementary filter
Can help fix noise drift and horizontal
acceleration dependency.
Fast estimates of angle.
Not very processor- intensive.

Cons
Not very accurate estimate like Kalman filter.

Results Comparison of Kalman and
Complementary filter(rest)
Results Comparison of Kalman and
Complementary filter(moving)
Results Comparison of Kalman
Complementary filter and simple
..gyro(moving)
PID
After implementing the filters the PID is applied to make the robot
balance.






PID is The proportional term Kp * e(t) is an output value based the
difference between the set point and actual point.

The integral term is the sum of all errors over time, this term allows
the controller to advance the output such that all the errors are
eventually cancelled out.

The derivate term, is based on the first derivative of the proportional
error, it checks if the error is getting smaller as time goes by.

Tuning
Kalman tuning
The filters performance could vary greatly if the
parameters are not properly adjusted.

1. The initial covariance matrix.

2. The state estimate vector.

3. The Q matrix and its corresponding random noise
vector w.

4. The R matrix and its corresponding random noise vector
v.

Kalman
Values of Q_accelerometer and Q_gyroscope are set depending on how
much confidence one puts on the particular sensor. A higher value
indicates that the particular sensor is trusted less as compared to the
other sensor. The value of the R_measurement matrix indicates the
amount of noise expected from the measurement, a low value indicates
that the measurement is less corrupted with noise
The filter tuning method used on this project was done by trial and error.
Once the tuning covariance matrices Qw and measurement matrix Rv
constant parameters provided the desire output response, the constant
values were kept
The measurement noise and the process noise covariance matrix values
used are
Q_angle = 0.001;
Q_bias = 0.003;
R_measure = 0.03;
PID tuning
The PID controller use da set of tuning rules which is based on
the Ziegler Nichols method.
Select typical operating setting for desired speed, turnoff integral
and derivative part and then increase Kp to max or until oscillation
occurs.
If system oscillates, divide Kp by 2.


Increase Kd and observe behavior when changing desired

speed by about5% and choose value of Kd that gives a fast

damped response.


Slowly increase Ki until oscillations tarts.ThendivideKi
by2or3.


Thanks