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Control of two wheel balance robot with PID

Year 2022, Volume: 11 Issue: 2, 393 - 403, 15.04.2022
https://doi.org/10.28948/ngumuh.1026781

Abstract

The need for ergonomically designed vehicles with high mobility has been increasing in recent years, that’s why two-wheeled balance robots have taken their place commercially in our current life. Balance is the main problem for a two-wheeled balance robot, so researchers have carried out various studies on the balance problem under the title of inverted pendulum for more than 40 years. In the inverted pendulum problem, the equations of motion are complex nonlinear equations. Different dynamical approaches have been used to obtain these equations. In the study the kinematic analysis of the two-wheeled balance robot, which has two degrees of variance, was carried out and the nonlinear dynamical equations were obtained using the Lagrange method. The obtained equations were transferred to the Matlab-Simulink interface and a block diagram was simulated with a PID controller that only controls the angle balance. In the next step, the equations were transferred to the Matlab-Simulink interface and a block diagram was simulated with two separate PID controllers providing angle control and speed control. When the simulations were examined, it was seen that the control systems worked successfully. It has been observed that the balance in the control system with angle feedback is provided in less than 330 seconds compared to the control system with angle/velocity feedback. In addition, it has been seen that the gain coefficients of PID controllers should be determined at the most appropriate values for a stable control.

References

  • M. C. Tsai and J. S. Hu, Pilot control of an auto-balancing two wheeled cart. Advenced Robotics, 21 (7), 817-827, 2007. https://doi.org/10.1163/156855307780429785.
  • K. H. Su, Chen, Y. Y. Chen and S. F. Su, Design of neural-fuzzy-based controller for two autonomously driven wheeled robot. Neurocomputing, 73, 2478-2488, 2010. https:// doi:10.1016/j.neucom.2010.05.005.
  • L. Vermeiren, A. Dequidt, T. M. Guerra, H. R. Tirmant and M. Parent, Modelling control and experimental verification on a two-wheeled vehicle with free inclination: an urban transportation system. Control Engineering Practice, 19, 744-756, 2011. https:// doi:10.1016/j.conengprac.2011.04.002.
  • N. M. A. Ghani, F. Naim and T. P. Yon, Two wheels balancing robot with line following capability. Engineering and Technology International Journal of Mechatronics Engineering, 5 (7), 1401-1405, 2011. https:// waset.org/Publication/6566.
  • S. Jung and H. Lee, Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors. Mechatronics, 22, 95-105, 2012. https:// doi:10.1016/j.mechatronics.2011.11.011.
  • A. M. Almeshal, K. M. Goher and M. O. Tokhi, Dynamic modelling and stabilization of a new configuration of two-wheeled machines. Robotics and Autonomous Systems, 61, 443-472, 2013. https:// doi:10.1016/j.robot.2013.01.006.
  • U. Adeel, K. S. Alimgeer, O. Inam, A. Hameed, M. Qureshi and M. Ashraf, Autonomous dual wheel self balancing robot based on microcontroller. Journal of Basic and Applied Scientific Research, 3 (1), 843-848, 2013. https:// www.textroad.com.
  • N. N. Son and H. P. H. Anh, Adaptive backstepping self-balancing control of a two-wheel electric scooter. International Journal of Advenced Robotic Systems, 11 (10), 165-176, 2014. https:// doi:110.5772/59100.
  • K. Hirata and T. Murakami, Stability of disturbance observer based controllers for two-wheel wheelchair systems. Advenced Robotics, 28 (7), 467-477, 2014. https:// doi: 10.1080/01691864.2014.888372.
  • U. Çelik, Kendini dengeleyebilen iki tekerlekli aracın tasarımı ve kontrolü. Yüksek Lisans Tezi, İstanbul Teknik Üniversitesi Fen Bilimleri Enstitüsü, İstanbul, Türkiye, 2014.
  • S. E. Kara, Control of two wheel self stabilizing mobile robot with a simple arm. A Master’s Thesis, Mechatronic Engineering Atilim University, Ankara, Türkiye, 2014.
  • F. Dai, X. Gao, S. Jiang, W. Guo and Y. Liu, A two-wheeled inverted pendulum robot with friction compensation. Mechatronics, 30, 116-125, 2015. http://dx.doi.org/10.1016/j.mechatronics.2015.06.011.
  • M. Velazquez, D. Cruz, S. Garcia and M. Bandala, Velocity and motion control of a self-balancing vehicle based on a cascade control strategy. International Journal of Advenced Robotic Systems, 13 (3), 106-117, 2016. https:// doi: 10.5772/63933.
  • S. A. B. Junoh, Two-wheeled balancing robot controller designed using PID. Bachelor Thesis, Faculty of Electrical and Elektronic Engineering University Tun Hussein Onn Malaysia, Johor, Malaysia, 2015.
  • S. İlgen, E. Oflaz, E. Gülbahçe and A. Çakan, Modelling and control of a single-wheel inverted pendulum by using adams and matlab. International Journal of Applied Mathematics, 4, 326-328, 2016. http://ijamec.atscience.org.
  • N. Hirose, R. Tajima, N. Koyama, K. Sukigara and M. Tanaka, Following control approach based on model predictive control for wheeled inverted pendulum robot. Advenced Robotics, 30 (6), 374-385, 2016. https://www.tandfonline.com/loi/tadr20.
  • S. Jeong, K. Kouzai and S. Noguchi, Influence of a rider’s rapid weight-shifting motion on the braking of a self-balancing personal mobility vehicle. Advenced Robotics, 30 (7), 449-458, 2016. https://www. tandfonline.com/loi/tadr20.
  • O. İ. Yavuz, A. Çetin ve Ö. Eyecioğlu, İki tekerlekli kendini dengeleyen robot. EEB 2016 Elektrik-Elektronik ve Bilgisayar Sempozyumu, sayfa 264-269, Tokat, Türkiye, 11-13 Mayıs 2016.
  • J. H. Park and B. K. Cho, Development of a self-balancing robot with a control moment gyroscope. International Journal of Advenced Robotic Systems, 15 (2), 1-11, 2018. https:// doi:10.1177/172988141877 0865.
  • S. Jeong and T. Hayashi, Development of a wheeled inverted pendulum mobile platform with a four-bar parallel mechanism. Advenced Robotics, 32 (4), 191-201, 2018. https://www.tandfonline.com/loi/tadr20.
  • I. Gandarilla, V. Santibanez and J. Sandoval, Control of a self-balancinf robot with two degrees of freedom via IDA-PBC. ISA Transactions, 88, 102-112, 2019. https://doi.org/10.1016/j.isatra.2018.12.014.
  • G. Taşlıalan and O. E. Akay, Controlling a two-wheeled balance robot with PD. ISADET2019 International Syposium On Advanced Engineering Technologies, pp. 678, Kahramanmaraş, Türkiye, 02-04 Mayıs 2019.
  • İ. Kacar, M. A. Eroğlu and M. K. Yalçın, Desing and development of an autonomous bicycle. Niğde Ömer Halisdemir University Journal of Engineering Sciences, 10 (1), 364-372, 2021. https://doi.org/ 10.28948/n.gumuh.628580.

İki tekerlekli denge robotunun PID ile kontrolü

Year 2022, Volume: 11 Issue: 2, 393 - 403, 15.04.2022
https://doi.org/10.28948/ngumuh.1026781

Abstract

Yüksek hareket kabiliyetine sahip ergonomik tasarımlı taşıtlara olan ihtiyaç son yıllarda giderek artmaktadır. Buna bağlı olarak, iki tekerlekli denge robotları, güncel yaşantımızdaki yerini, ticari olarak almıştır. Bu robotlar için denge temel problemdir. Buna bağlı olarak, araştırmacılar 40 yılı aşkın süredir ters sarkaç yaklaşımı altında, denge problemi ile ilgili çeşitli çalışmalar yapmıştır. Ters sarkaç probleminde, hareket denklemleri doğrusal olmayan karmaşık denklemlerdir. Bu denklemlerin elde edilmesinde farklı dinamik yaklaşımlardan faydalanılmıştır. Çalışmada; iki serbestlik derecesine sahip olan, iki tekerlekli denge robotunun kinematik analizi gerçekleştirilmiş ve doğrusal olmayan dinamik denklemleri lagrange yöntemi kullanılarak elde edilmiştir. Elde edilen denklemler Matlab-Simulink ara yüzüne aktarılmış ve yalnızca açı dengesini kontrol eden bir PID kontrolörün bulunduğu bir blok diyagramının benzetim modeli yapılmıştır. Bir sonraki aşamada, denklemler yine Matlab-Simulink ara yüzüne aktarılmış ve açı kontrolü ile hız kontrolü sağlayan iki ayrı PID kontrolörün bulunduğu bir blok diyagramının benzetim modeli yapılmıştır. Benzetim modelleri incelendiğinde kontrol sistemlerinin çalıştığı görülmüştür. Açı geri beslemesine sahip kontrol sisteminde dengenin, açı/hız geri beslemeli kontrol sistemine göre 330 s daha kısa sürede sağladığı görülmüştür. Ayrıca, kararlı bir kontrol için PID kontrolörlerin kazanç katsayılarının en uygun değerlerde belirlenmesi gerektiği görülmüştür.

References

  • M. C. Tsai and J. S. Hu, Pilot control of an auto-balancing two wheeled cart. Advenced Robotics, 21 (7), 817-827, 2007. https://doi.org/10.1163/156855307780429785.
  • K. H. Su, Chen, Y. Y. Chen and S. F. Su, Design of neural-fuzzy-based controller for two autonomously driven wheeled robot. Neurocomputing, 73, 2478-2488, 2010. https:// doi:10.1016/j.neucom.2010.05.005.
  • L. Vermeiren, A. Dequidt, T. M. Guerra, H. R. Tirmant and M. Parent, Modelling control and experimental verification on a two-wheeled vehicle with free inclination: an urban transportation system. Control Engineering Practice, 19, 744-756, 2011. https:// doi:10.1016/j.conengprac.2011.04.002.
  • N. M. A. Ghani, F. Naim and T. P. Yon, Two wheels balancing robot with line following capability. Engineering and Technology International Journal of Mechatronics Engineering, 5 (7), 1401-1405, 2011. https:// waset.org/Publication/6566.
  • S. Jung and H. Lee, Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors. Mechatronics, 22, 95-105, 2012. https:// doi:10.1016/j.mechatronics.2011.11.011.
  • A. M. Almeshal, K. M. Goher and M. O. Tokhi, Dynamic modelling and stabilization of a new configuration of two-wheeled machines. Robotics and Autonomous Systems, 61, 443-472, 2013. https:// doi:10.1016/j.robot.2013.01.006.
  • U. Adeel, K. S. Alimgeer, O. Inam, A. Hameed, M. Qureshi and M. Ashraf, Autonomous dual wheel self balancing robot based on microcontroller. Journal of Basic and Applied Scientific Research, 3 (1), 843-848, 2013. https:// www.textroad.com.
  • N. N. Son and H. P. H. Anh, Adaptive backstepping self-balancing control of a two-wheel electric scooter. International Journal of Advenced Robotic Systems, 11 (10), 165-176, 2014. https:// doi:110.5772/59100.
  • K. Hirata and T. Murakami, Stability of disturbance observer based controllers for two-wheel wheelchair systems. Advenced Robotics, 28 (7), 467-477, 2014. https:// doi: 10.1080/01691864.2014.888372.
  • U. Çelik, Kendini dengeleyebilen iki tekerlekli aracın tasarımı ve kontrolü. Yüksek Lisans Tezi, İstanbul Teknik Üniversitesi Fen Bilimleri Enstitüsü, İstanbul, Türkiye, 2014.
  • S. E. Kara, Control of two wheel self stabilizing mobile robot with a simple arm. A Master’s Thesis, Mechatronic Engineering Atilim University, Ankara, Türkiye, 2014.
  • F. Dai, X. Gao, S. Jiang, W. Guo and Y. Liu, A two-wheeled inverted pendulum robot with friction compensation. Mechatronics, 30, 116-125, 2015. http://dx.doi.org/10.1016/j.mechatronics.2015.06.011.
  • M. Velazquez, D. Cruz, S. Garcia and M. Bandala, Velocity and motion control of a self-balancing vehicle based on a cascade control strategy. International Journal of Advenced Robotic Systems, 13 (3), 106-117, 2016. https:// doi: 10.5772/63933.
  • S. A. B. Junoh, Two-wheeled balancing robot controller designed using PID. Bachelor Thesis, Faculty of Electrical and Elektronic Engineering University Tun Hussein Onn Malaysia, Johor, Malaysia, 2015.
  • S. İlgen, E. Oflaz, E. Gülbahçe and A. Çakan, Modelling and control of a single-wheel inverted pendulum by using adams and matlab. International Journal of Applied Mathematics, 4, 326-328, 2016. http://ijamec.atscience.org.
  • N. Hirose, R. Tajima, N. Koyama, K. Sukigara and M. Tanaka, Following control approach based on model predictive control for wheeled inverted pendulum robot. Advenced Robotics, 30 (6), 374-385, 2016. https://www.tandfonline.com/loi/tadr20.
  • S. Jeong, K. Kouzai and S. Noguchi, Influence of a rider’s rapid weight-shifting motion on the braking of a self-balancing personal mobility vehicle. Advenced Robotics, 30 (7), 449-458, 2016. https://www. tandfonline.com/loi/tadr20.
  • O. İ. Yavuz, A. Çetin ve Ö. Eyecioğlu, İki tekerlekli kendini dengeleyen robot. EEB 2016 Elektrik-Elektronik ve Bilgisayar Sempozyumu, sayfa 264-269, Tokat, Türkiye, 11-13 Mayıs 2016.
  • J. H. Park and B. K. Cho, Development of a self-balancing robot with a control moment gyroscope. International Journal of Advenced Robotic Systems, 15 (2), 1-11, 2018. https:// doi:10.1177/172988141877 0865.
  • S. Jeong and T. Hayashi, Development of a wheeled inverted pendulum mobile platform with a four-bar parallel mechanism. Advenced Robotics, 32 (4), 191-201, 2018. https://www.tandfonline.com/loi/tadr20.
  • I. Gandarilla, V. Santibanez and J. Sandoval, Control of a self-balancinf robot with two degrees of freedom via IDA-PBC. ISA Transactions, 88, 102-112, 2019. https://doi.org/10.1016/j.isatra.2018.12.014.
  • G. Taşlıalan and O. E. Akay, Controlling a two-wheeled balance robot with PD. ISADET2019 International Syposium On Advanced Engineering Technologies, pp. 678, Kahramanmaraş, Türkiye, 02-04 Mayıs 2019.
  • İ. Kacar, M. A. Eroğlu and M. K. Yalçın, Desing and development of an autonomous bicycle. Niğde Ömer Halisdemir University Journal of Engineering Sciences, 10 (1), 364-372, 2021. https://doi.org/ 10.28948/n.gumuh.628580.
There are 23 citations in total.

Details

Primary Language Turkish
Subjects Mechanical Engineering
Journal Section Mechanical Engineering
Authors

Güçhan Taşlıalan 0000-0003-4533-8198

Orhan Akay 0000-0002-2369-1399

Publication Date April 15, 2022
Submission Date December 12, 2021
Acceptance Date March 15, 2022
Published in Issue Year 2022 Volume: 11 Issue: 2

Cite

APA Taşlıalan, G., & Akay, O. (2022). İki tekerlekli denge robotunun PID ile kontrolü. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, 11(2), 393-403. https://doi.org/10.28948/ngumuh.1026781
AMA Taşlıalan G, Akay O. İki tekerlekli denge robotunun PID ile kontrolü. NOHU J. Eng. Sci. April 2022;11(2):393-403. doi:10.28948/ngumuh.1026781
Chicago Taşlıalan, Güçhan, and Orhan Akay. “İki Tekerlekli Denge Robotunun PID Ile Kontrolü”. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi 11, no. 2 (April 2022): 393-403. https://doi.org/10.28948/ngumuh.1026781.
EndNote Taşlıalan G, Akay O (April 1, 2022) İki tekerlekli denge robotunun PID ile kontrolü. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi 11 2 393–403.
IEEE G. Taşlıalan and O. Akay, “İki tekerlekli denge robotunun PID ile kontrolü”, NOHU J. Eng. Sci., vol. 11, no. 2, pp. 393–403, 2022, doi: 10.28948/ngumuh.1026781.
ISNAD Taşlıalan, Güçhan - Akay, Orhan. “İki Tekerlekli Denge Robotunun PID Ile Kontrolü”. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi 11/2 (April 2022), 393-403. https://doi.org/10.28948/ngumuh.1026781.
JAMA Taşlıalan G, Akay O. İki tekerlekli denge robotunun PID ile kontrolü. NOHU J. Eng. Sci. 2022;11:393–403.
MLA Taşlıalan, Güçhan and Orhan Akay. “İki Tekerlekli Denge Robotunun PID Ile Kontrolü”. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, vol. 11, no. 2, 2022, pp. 393-0, doi:10.28948/ngumuh.1026781.
Vancouver Taşlıalan G, Akay O. İki tekerlekli denge robotunun PID ile kontrolü. NOHU J. Eng. Sci. 2022;11(2):393-40.

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