Fuzzy control of a two-wheel balancing robot using DSPIC

Author

Miasa, Samer ; Al-Mjali, Mohammad ; Ibrahim, Anas Al-Haj ; Tutunji, Tarek A.

fYear

2010

fDate

27-30 June 2010

Firstpage

1

Lastpage

6

Abstract

This paper is concerned with the design and implementation of a two-wheel balancing robot. The angle and angle change are used as inputs to the robot system in order to calculate the appropriate motor force to balance the robot. ADXL330 accelerometer and two DC motors are used as the sensor and actuators, respectively. More importantly, the robot system uses fuzzy control that is implemented on DSPIC30F2010. The robot under study represents a mechatronic system because it involves an integrated design among mechanics, electronics, and embedded smart controllers. The system model is first tested under Matlab/Simulink. Then, the Printed Circuit Boards are designed, the C-program is written, and the mechanical structure is built. Finally, the robot is built and tested in the laboratory.

Keywords

DC motors; accelerometers; fuzzy control; mechanical stability; mechatronics; microcontrollers; mobile robots; ADXL330 accelerometer; C-program; DC motor; DSPIC; actuator; embedded smart controller; fuzzy control; mechatronic system; motor force; printed circuit board; sensor; two-wheel balancing robot; Accuracy; Digital signal processing; Laboratories; Mathematical model; NASA; Pulse width modulation; Robots; Balancing Robot; DSP; Fuzzy Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems Signals and Devices (SSD), 2010 7th International Multi-Conference on

Conference_Location

Amman

Print_ISBN

978-1-4244-7532-2

Type

conf

DOI

10.1109/SSD.2010.5585525

Filename

5585525