PID control behavior and sensor filtering for a self balancing personal vehicle

Author

Abdullah Bin Azhar, M. ; Hassan, Waqar ; Rahim, U.

Author_Institution

Electron. & Power Eng. Dept., Nat. Univ. of Sci. & Technol., Karachi, Pakistan

fYear

2012

fDate

22-23 Oct. 2012

Firstpage

7

Lastpage

10

Abstract

Simple self balancing vehicles require that a single physical input be sufficient for balancing as well as continuous movement. This paper discusses the control behavior of PID controller for such a vehicle named SubukRaftar which has a digital filter and controller running on an AVR microcontroller. Control variable, the tilt angle of platform, is plotted using MATLAB to study response of the controller. Response of two sensors used, gyroscope and accelerometer are also analyzed using MATLAB and possible complementary filtering solution is discussed.

Keywords

accelerometers; digital control; digital filters; gyroscopes; microcontrollers; road vehicles; three-term control; AVR microcontroller; MATLAB; PID control behavior; PID controller; SubukRaftar; accelerometer; continuous movement; control variable; digital controller; digital filter; gyroscope; self-balancing personal vehicle; sensor filtering; tilt angle; vehicle balancing; Accelerometers; Filtering algorithms; Gyroscopes; MATLAB; Microcontrollers; Vehicles; Wheels; AVR ATMega16; PID Controller; accelerometer; complementary filter; gyroscope; self balancing vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Artificial Intelligence (ICRAI), 2012 International Conference on

Conference_Location

Rawalpindi

Print_ISBN

978-1-4673-4884-3

Type

conf

DOI

10.1109/ICRAI.2012.6413419

Filename

6413419