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MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION CAPSTONE PROJECT MECHATRONICS ENGINEERING TECHNOLOGY RESEARCH AND DESIGN THE SELF-BALANCING ROBOT ADVISOR: VU QUANG HUY, PhD STUDENT: PHAN THANH VINH S K L0 0 Ho Chi Minh City, January 2018 UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING DEPARTMENT OF MECHATRONICS GRADUATION THESIS RESEARCH AND DESIGN THE SELF-BALANCING ROBOT ADVISOR: VU QUANG HUY STUDENT’S NAME: Phan Thanh Vinh 13146268 ACADEMIC BATCH: 2013 - 2017 MAJOR: MECHATRONICS Ho Chi Minh City, January 2018 MISSION OF THESIS Student‘s name: Phan Thanh Vinh ID:13146268 Major:Mechatronics Class:13146CLC Advisor: VU QUANG HUY, PhD Delivery date: Submission date: 1.Title of thesis: Research and designtheself-balancing robot 2.The original data, document: - Datasheet of electronic components - Android developer’s document website - Researches and studies on self-balancing robot Main content: - Researcheson self-balancing robot - Research and development self-balancing robot model - Conducting experiments to verify the error rate - Comparing results with different commercial products Product: - The fundamentals of balancing -Calculating the dynamic parameters, space-state of the model - Self-balancing robot model Program Chair Advisor SOCIALIST REPUBLIC OF VIETNAM Independence - Freedom - Happiness *** -ADVISOR’S COMMENT Student’s name: Phan Thanh Vinh ID: 13146268 Major: Mechatronics Title of thesis: RESEARCH AND DESIGN THE SELF-BALANCING ROBOT Advisor’s name: COMMENTS The content of thesis and workload allocated: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Advantages: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Improvement points: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Thesis defense approval: Yes No Evaluation remark: …………………………………………………………………………………………… Grade:……… (in word:…………………………………………………………) Ho Chi Minh City, January 2018 Advisor (Name, signature) SOCIALIST REPUBLIC OF VIETNAM Independence - Freedom - Happiness *** -REVIEWER’S COMMENT Student’s name: Student’s ID: 13146268 Phan Thanh Vinh Major: Mechatronics Title of thesis: RESEARCH AND DESIGN THE SELF-BALANCING ROBOT Reviewer’s name: COMMENTS The content of thesis and workload allocated: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Advantages: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Improvement points: ……………………………………………………………………………………………… ……………………………………………………………………………………………… …………………………………………………………………………………………… Thesis defense approval: Yes No Evaluation remark: ……………………………………………………………………………………………… Grade: ……………(in word:…………………………………………………….) Ho Chi Minh City, January 2018 Reviewer (Name, signature) TABLE OF CONTENTS ACKNOWLEDGEMENT ABSTRACT 10 LIST OF TABLES 11 LIST OF FIGURES 12 LIST OF ABBREVIATIONS 14 CHAPTER 1: OVERVIEW 15 1.1 The need for the two wheels self balancing 15 1.2 Some self-balancing robots 18 1.2.1 nBot 18 1.2.2 TOYOTA's rolling man-powered robot 19 1.2.3 Balance-bot I 20 1.2.4 JOE 21 1.2.5Balancing robot (Bbot) 22 1.2.6 Equibot 23 1.2.7 Bender 24 CHAPTER 2: FUNDAMENTALS 25 2.1 Dynamic calculation method 25 2.2 Inverted pendulum 26 2.3 Dynamic of self-balancing robot 29 2.4 Design the PID 34 2.4.1 Introduction to PID 34 2.4.2 Simulating PID controller systems by Matlab 36 2.5 Signal processing from the sensor 37 2.5.1 Introduction to the Kalman filter 37 2.5.2 The theory of Kalman filter 38 2.5.3 Process estimation 40 2.5.4 Overall Diagram 42 2.6 Microcontroller 43 2.7 Accelerometer 45 2.8 Bluetooth 46 2.9 Dc servo motor GA25 48 2.10 Motor driver 49 CHAPTER 3:DESIGNS 51 3.1Hardware 51 3.1.1 Hardware Architecture Description 51 3.1.2 General block diagram 52 3.1.3 Mechanical designs 52 3.1.4 Analysis the motor and the sensors 53 3.1.5 Module Placing 55 3.2.Software composition 56 3.2.1 Receiving data from MPU6050 56 3.2.2 Smoothing data using Kalman filter 56 3.2.3 Code block diagram 57 3.3 Control 57 3.3.1 Block diagram of control system 57 3.3.2Adjust PID 59 3.3.3 Arduino Bluetooth Controller 61 CHAPTER 4:EXPERIMENT AND ANALYSIS 62 4.1 Modes of experiments 62 4.1.1 Position Drift 62 4.1.2 Angle of tilt 63 4.1.2 Run from point 65 4.1.3 Test the velocity of the robot 66 4.2Analysis 67 CHAPTER 5: CONCLUSION AND RECOMMENDATION 68 5.1 Conclusion 68 5.2 Recommendation 68 REFERENCES 69 ACKNOWLEDGEMENT Firstly, we would like to express our sincere gratitude to our advisor Dr Vu Quang Huy for the continuous support of our thesis, for his patience, motivation, and immense knowledge His guidance helped us in all the time of research and writing of this thesis We could not have imagined having a better advisor and mentor Secondly, we would like to thank our friends Thang and Kien for their help Without their help, we can’t finish this thesis Last but not the least, we would like to thank our families: our parents and to our brothers and sisters for supporting spiritually throughout writing this thesis To use Kalman filter in Arduino we need Kalman.h library After that we set kal Before the accelerometer value 3.2.3 Code block diagram Read raw data from Sensors Process Data(Scale IMU and Encoder readings) Kalman Filter Controller Output to motor driver Loop Time Control Figure 35 Code block diagram 3.3 Control 3.3.1 Block diagram of control system 57 Start Set maxAngle, minAngle Read raw data from MPU6050 Smoothing data using Kalman filter No kalAngle> maxAngle Yes kalAngle
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