Development of Deflection Angle Stabilizing System for Balancing Robot

Dmitry Fedorov; Andrey Ivoilov; Vadim Zhmud; Vitaly Trubin

doi:10.6000/2371-1647.2015.01.07

Development of Deflection Angle Stabilizing System for Balancing Robot

Authors

Dmitry Fedorov Novosibirsk State Technical University, Russia
Andrey Ivoilov Novosibirsk State Technical University, Russia
Vadim Zhmud Novosibirsk State Technical University, Russia
Vitaly Trubin Novosibirsk State Technical University, Russia

DOI:

https://doi.org/10.6000/2371-1647.2015.01.07

Keywords:

Balancing robot, automatic control system, the modal synthesis method, the complementary filter, alpha-beta filter, accelerometer, gyroscope, and encoder

Abstract

This paper performs determination of a mathematical model of the balancing robot, its linearization and algorithm for calculation of stabilization of the deflection angle from the vertical modal method. This algorithm also makes determination of the angle of deviation from the use of either alpha-beta filter and the angle of rotation of the wheels by means of encoders.

References

MPU-6000 and MPU-6050 Register Maps and Descriptions [Electronic resource]. – Acess data: http://www. invensense.com/products/motion-tracking/6-axis/mpu-6050/

Zadacha sinteza v teorii regulirovanija: ucheb. posobie / A.S. Vostrikov. – Novosibirsk: Izd-vo NGTU, 2011. – 104 s.

Chto merjaet akselerometr [Electronic resource]. – Acess data: http://dpla.ru/acclmmer.img/acclmmer.htm

MJeMS-giroskopy – edinstvo vybora [Electronic resource]. – Acess data: http://www.electronics.ru/journal/article/512

Web site of the Department of Automation in Novosibirsk State Technical University, page “Sceince work”. URL: http://ait.cs.nstu.ru/content/nauchnaja-dejatelnost

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Published

2015-11-27

How to Cite

Fedorov, D., Ivoilov, A., Zhmud, V., & Trubin, V. (2015). Development of Deflection Angle Stabilizing System for Balancing Robot. Journal of Advances in Management Sciences & Information Systems, 1, 65–82. https://doi.org/10.6000/2371-1647.2015.01.07

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Issue

Vol. 1 (2015)

Section

Articles

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