A Cascade PD Controller for Heavy Self-balancing Robot

Michał Okulski , Maciej Ławryńczuk


This paper describes control system for dynamic equilibrium finding of a self balancing (two-wheeled) heavy robot. Two cascade-connected Proportional-Derivative (PD) controllers are used to balance the robot and keep the desired driving speed (or standing still). A simple and efficient algorithm for tilt calculation takes data from three sensors: a gyroscope, an accelerometer and a contactless magnetic encoder. The PD controller output is combined with manual (remote) driving signals to control Electronic Speed Controllers (ESC) of two high-torque electric motors. Finally, experimental results and recommendations to cope with difficulties are discussed.
Author Michał Okulski (FEIT / AK)
Michał Okulski,,
- The Institute of Control and Computation Engineering
, Maciej Ławryńczuk (FEIT / AK)
Maciej Ławryńczuk,,
- The Institute of Control and Computation Engineering
Publication size in sheets0.5
Book Szewczyk Roman, Zieliński Cezary, Kaliczyńska Małgorzata: Advances in Automation, Robotics and Measurement Techniques, Advances in Intelligent Systems and Computing, vol. 743, 2018, Springer International Publishing AG , ISBN 978-3-319-77178-6, 795 p., DOI:10.1007/978-3-319-77179-3
Keywords in EnglishSelf-balancing robot Cascade PD controller Gyroscope Accelerometer Feedback control
URL https://link.springer.com/chapter/10.1007/978-3-319-77179-3_17
projectDevelopment of methodology of control, decision support and production management. Project leader: Ogryczak Włodzimierz, , Phone: 6190, start date 12-06-2017, end date 31-12-2018, 504/statut2017/1031, Implemented
WEiTI Działalność statutowa
Languageen angielski
Okulski LawrynczukAutomation2018.pdf 2.57 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 15-05-2018, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) = 15.0, 15-05-2018, BookChapterSeriesAndMatConf
Citation count*2 (2018-11-15)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.