BALANCING ROBOT USING CONTROL SYSTEM

This project presents a Single Wheel Balancing Robot. Basically, the
main idea of the project is to balance a structure on a wheel using motor. The
wheel will balance the structure forward and backward, trying to make the
structure not to fall. This project will involve with a precise weight distributed
fabricated structure and a very fast control systems controlling the motor thus
the robot itself.
The objective of the project is to balance the robot structure using
control system methods, which is simulated using the MATLAB software and
interface with the robot using Quanser systems. The objective also consists of
solving the control problems using control systems theory such as Root Locus
and Proportional-Integral-Differential, proving the effectiveness of the theory
in fast response control systems.
The student's main mission of the project is to fabricate a good robot
structure with a very stable center of gravity, study the basic and various type
of controller techniques, studythe robot components (motor, encoderand etc),
study and experiment the Quanser interface module, interface the fabricated
robot structure with MATLAB using Quanser systems, and proceed with
balancing the structure. Thesecond mission is to test the complete system with
studied control systems and control troubleshooting. Lastly a technical paper
will be produced regarding the results of the real simulation.