Self-Balancing Robot Using Raspberry Pi and PID Controller


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

Never miss an update from Papermashup

Get notified about the latest tutorials and downloads.

Subscribe by Email

Get alerts directly into your inbox after each post and stay updated.
Subscribe
OR

Subscribe by RSS

Add our RSS to your feedreader to get regular updates from us.
Subscribe