Self-Balancing Robot
An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and some other key performance in control will be examined in the process of controlling such system. The self-balancing robot is in fact a movable 3 DOF inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels.
1. More degree of freedom compare to linear and planar inverted pendulum
2. Using real-time workspace in MATLAB.
3. Embedded PC104 system with windows operating system
4. Online editing and modifying the control algorithm.
5. Various extension interface for add-on sensors, e.g. vision
6. Providing MATLAB functions
| Function | Description | ||||||||||||||||||||||||
| DC Servo Power | 85W | ||||||||||||||||||||||||
| Gear Ratio | 8:1 | ||||||||||||||||||||||||
| Motion Controller | – DSP and FPGA based embedded controller
– PC104 Bus – 3 Axes Motion Controller |
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| Software environment | WIN98/MATLAB6.5 | ||||||||||||||||||||||||
| Maximum Speed | 1.6m/s | ||||||||||||||||||||||||
| Power | NiMH Battery 8.5Ah(24V) | ||||||||||||||||||||||||
| Duration | >1.5 H | ||||||||||||||||||||||||
| Maximum Ramp Angle | 20° | ||||||||||||||||||||||||
| Gyro | – Power 9~12V
– AD/DA resolution 12bits – Current 30mA – Maximum angular velocity 炽300deg/sec(25˚C) – Range 360˚ (25˚C) – Sampling Frequency 150HZ – Temperature Bias 炽 0.025%/˚C – Operating Temperature -40~50˚C – Analog Output (0~4.096V) – Repeatability 0.10˚ |
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| Dimensions | 260 x 450 x 730mm | ||||||||||||||||||||||||
| Weight | 20Kg
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● Gyroscope Theory
● Remote Control Theory
● System Modelling Analysis
● PID Correction
● State Feedback Control
● LQR Control
● Custom Algorithm Research