Balancing robot for dummies

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47

#rob4white
I followed this guide to find the P, I, and D constants:
http://robotics.ee.uwa.edu.au/theses/2003-Balance-Ooi.pdf see page 42:

  1. Select typical operating setting for desired speed, turn off integral and derivative part, and then increase Kp to max or until oscillation occurs.
  2. If system oscillates, divide Kp by 2.
  3. Increase Kd and observe behaviour when changing desired speed by about 5% and choose a value of Kd that gives a fast damped response.
  4. Slowly increase Ki until oscillation starts. Then divide Ki by 2 or 3.
    I more or less followed that, but I then fine tuned it myself. I recommend using a wireless application, so you can set them wirelessly, as mentioned in the video, as you have to spend a lot of time finding those values.

#Wmgatorfan08
Yes I think it is possible to make a very low cost segway using those parts, but I don't think the performance will be as good, but I will still be a great learning experience and a fun project. Just take a look at AlphaZeta robot: Balancing robot for dummies - #43 by AlphaZeta - Robotics - Arduino Forum
That only cost approximately 20$ excluding the motors!!

I think your forgot to insert the link for your IMU :slight_smile: