ECE.4180Final Design

Jason CrimVikas Kedigehalli

Chinnappa Pattada

Two Wheeled Dynamically Balancing Robot

Existing designs

11/9/10

Our Design

Drive the robot wheels in the direction that the upper part of the robot is falling.

If the wheels are driven in such a way that they stay under the robot’s center of gravity , the robot remains balanced.

This requires two feedback sensors -> Tilt or angle sensor : To measure the tilt

of the robot with respect to gravity

-> Wheel Encoders : To measure the position of the

base of the robot.

Working Principle

System flowchart

Initial Algorithm

11/9/10

Modified Algorithm

11/9/10

Practical Challenges Faced

Components

Low power, 3-axis accelerometer with high resolution (13-bit) measurement

ADXL-345

Triple-axis, digital output gyroscope

ITG-3200

Accelerometer Gyroscope

Components

DC Gearhead Robot Motor

7.2V motor with 7.2Kg-cm of torque, 160 rpm no load speed, a 6mm drive shaft, and built in quadrature encoder

VNH2SP30 Motor Driver Carrier MD01B

Compact motor driver with current sensing and high PWM frequency (20 Khz) supplies current of upto 30A

DC Motor Motor Driver

Components

mbed NXP LPC1768

Microcontroller with ARM based Cortex-M3 core, running at 96MHz, with 512KB FLASH, 64KB RAM

MBED

Tasks and Schedule

11/9/10

DEMOVideo Demo

11/9/10

Questions

11/9/10

Thank YouECE4180 was Great Fun!!!