The Design and Control for the Balancing Robot with fundamental controller using program MATLAB Simulink

Authors

  • Kanchit Pawananont Faculty of Engineering and Industrial Technology, Department of Robots and Smart Electronics Engineering, Phetchaburi Rajabhat University
  • Daungkamol angamnuaysiri Faculty of Engineering and Industrial Technology, Department of Robots and Smart Electronics Engineering, Phetchaburi Rajabhat University
  • Kamolwan Wongwut Faculty of Engineering and Industrial Technology, Department of Electrical Engineering, Phetchaburi Rajabhat University
  • kritchanan charoensuk Faculty of Science and Technology, Department of Industrial Technology and Innovation Management, Pathumwan Institute of Technology

Keywords:

Balancing robot, Inverted pendulum, PD Controller, Simulink, Arduino

Abstract

This paper aspires to demonstrate the design principles of balancing robots and PD controllers in that design. It applied the dynamics principles of balancing robot movements and used Newton's laws in its design. The mathematical model of the equilibrium robot will not be linear. Therefore, The Balancing Robot must first convert the non-linear equilibrium robot's mathematical model to a linear one. A mathematical model of a linear equilibrium robot had applied to the controller design. In designing a primary controller for a balancing robot, this article has selected a PD controller. It is not very complex and easy to modify or adjust to suit the balancing robot system to stabilize and eliminate possible interference in the system. In this article, I have chosen to use the Simulink because it can connect to the Arduino board and the balancing robot, thus resulting in ease of use, simulation and experiments. The controller logic used the ability of the controller to stabilize the balancing robot by simulating the system of the balancing robot used in the design of the controller obtained from the actual structure and comparing the performance of the inverted pendulum angle of the balancing robot with the controller obtained from the mathematical model of the robot. The equilibrium and performance index of the balancing robot control system uses a PD controller to maintain the stability of the equilibrium robot. The test of this controller emanated from computational linear equations derived from a mathematical model of a balancing robot, which can control and stabilize the equilibrium robot so that The Balancing Robot can maintain equilibrium.

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Published

2022-12-29

How to Cite

Pawananont, K. ., angamnuaysiri, D. ., Wongwut, K. ., & charoensuk, kritchanan. (2022). The Design and Control for the Balancing Robot with fundamental controller using program MATLAB Simulink. Journal of Industrial Technology : Suan Sunandha Rajabhat University, 10(2), 9–22. retrieved from https://ph01.tci-thaijo.org/index.php/fit-ssru/article/view/248385

Issue

Vol. 10 No. 2 (2022): ๋July-December 2022

Section

Research Articles

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