A Cascade PD Controller for Heavy Self-balancing Robot
Michał Okulski , Maciej Ławryńczuk
AbstractThis 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.
|Publication size in sheets||0.5|
|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, ISBN 978-3-319-77178-6, 795 p., DOI:10.1007/978-3-319-77179-3|
|Keywords in English||Self-balancing robot Cascade PD controller Gyroscope Accelerometer Feedback control|
|project||Development 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
|Score|| = 15.0, 11-03-2019, BookChapterSeriesAndMatConf|
= 15.0, 11-03-2019, BookChapterSeriesAndMatConf
|Citation count*||4 (2019-04-28)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.