Two wheel self balancing robot

1. Self Balancing Two
Wheel Robot

2. Basic Aim
The basic aims of our project are :
To demonstrate the methods and techniques
involved in balancing an unstable robotic
platform on two wheels.
To design a complete digital control system
with the state space model.

3. Abstract
The purpose of our project is to balance a robot
automatically using motors, sensors and a microprocessor.
The use of a pair of motors is to keep the robot in the
upright position by using an accelerometer and gyroscope
sensors. This provides a classic inverted pendulum.
Generally the accelerometer sensor is noisy, but they are
accurate over a short period of time.
By using the sets of results obtained from the sensors and the
calculated results, it can solve the problem of the classic
inverted pendulum, and therefore the robot can be kept in the
upright position without falling down.

4. Difference between balanced and unbalanced drives

5. Applications
Rocket propeller works
on the principle of
inverted pendulum.

6. Applications
Segway
Robot can be
used in such a way
as to travel forward
or backward.
They can even be
used as vehicles by
humans.
The current day
short distance usage
vehicles can be
substituted by them.

7. System Architecture
The robot can be classified into
three main parts.
Classification
Inertial Sensors
Logical
Processing Unit
Actuators

8. Inertial Sensor Unit
The Inertial Sensor Unit comprises of gyroscope and
accelerometer, which reads the angular velocity and angular
position.
ISU
Gyroscope Accelerometer

9. Actuator Unit
The Actuator Block has two drivers that receive analog voltage signal
from controller and produce current signals to drive the motors at the
desired torque.
As the robot tilts, we require to apply a restoring force to return the robot
to vertical position.

10. Logical Processing Unit
The logical processing unit
performs the following functions
in our project:
ADC conversion of outputs of
Rate Gyro and Accelerometer.
Processing the input signals.
Periodic recalibration of gyro.
Control of actuator unit.

11. Block Diagram

12. .