Authors :
Yadav Ashwini Ramchandra; Thorat Monika Ankush; Mulla Sapura Salim; Patil Zunjar Vasantrao
Volume/Issue :
Volume 6 - 2021, Issue 4 - April
Google Scholar :
http://bitly.ws/9nMw
Scribd :
https://bit.ly/3tXdj74
Abstract :
An In essence, a self-balancing robot is an
inverted pendulum. If the center of mass is higher than
the wheel axels, it can balance better. A higher center of
mass translates to a higher moment of inertia, which
translates to a lower angular acceleration. It functions like
a self-balancing robot. The experiment necessitates the
use of a Raspberry Pi and the L293D driver module. The
robot's balance can be achieved with the aid of feedback
and a correction factor. The feedback element is the
component that informs the Raspberry Pi about the
robot's current orientation. The experiment primarily
employs a PID controller with gains Kp, Ki, and Kd. PID
corrects the difference between the desired and real
values. Error is the difference between input and output.
By changing the output, the PID controller reduces the
error to the smallest value possible. The current tilt of the
robot is read by system dynamics and fed to the PID
algorithm, which performs calculations to power the
motor and hold the robot upright.
Keywords :
Self-Balancing Robot; Raspberry Pi; PID Controller; Robot; Feedback Element; Correction Factor
An In essence, a self-balancing robot is an
inverted pendulum. If the center of mass is higher than
the wheel axels, it can balance better. A higher center of
mass translates to a higher moment of inertia, which
translates to a lower angular acceleration. It functions like
a self-balancing robot. The experiment necessitates the
use of a Raspberry Pi and the L293D driver module. The
robot's balance can be achieved with the aid of feedback
and a correction factor. The feedback element is the
component that informs the Raspberry Pi about the
robot's current orientation. The experiment primarily
employs a PID controller with gains Kp, Ki, and Kd. PID
corrects the difference between the desired and real
values. Error is the difference between input and output.
By changing the output, the PID controller reduces the
error to the smallest value possible. The current tilt of the
robot is read by system dynamics and fed to the PID
algorithm, which performs calculations to power the
motor and hold the robot upright.
Keywords :
Self-Balancing Robot; Raspberry Pi; PID Controller; Robot; Feedback Element; Correction Factor
