The design of self-balancing robot

摘要

This paper presents the design of self-balancing robot. The tilt angle sampling and processing is the key technology to this project. While the angle sample from the sensor is unstable it will influence the control output and the robot will vibrate, to solve this problem, we add the data fusion filter for angle processing. Meanwhile, the speed control and shift distance control will indirectly change the setting angle, if the robot only use angle PID, it will keeps moving in a constant speed. To eliminate unexpected moving, we added the speed and distance control parameter in PID formula. This PID formula mixes the proportion of angle error, proportion of position and derivative of angular velocity. The experiment shows the stability depends on PID parameters, Motor's speed and torque, data fusion method.