Control of two wheel balance robot with PID

Yıl 2022, Cilt: 11 Sayı: 2, 393 - 403, 15.04.2022

Güçhan Taşlıalan , Orhan Akay

https://doi.org/10.28948/ngumuh.1026781

Öz

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.

Anahtar Kelimeler

Two Wheel Balance Robot, Inverted Pendulum, Lagrangian Method, Matlab, Robot

İki tekerlekli denge robotunun PID ile kontrolü

Öz

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.

Anahtar Kelimeler

İki Tekerlekli Denge Robotu, Ters Sarkaç, Lagrange Yöntemi, Matlab, Robot

Kaynakça

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