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Self-Balancing Robot Design Team #10
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  1. Self-Balancing RobotDesign Team #10 Team: Luc Malo, Renske Ruben, Gregory Ryan, Jeremy Stewart Supervisor: Professor Robert Bauer

  2. Table of Contents • Problem Statement • Design Requirements • Main Design • Balancing control • Data acquisition • Drive system • Student interaction • Chassis • Testing • Simulation • Prototype • Budget • Conclusion Intro Design Requirements Design Testing Budget Conclusion

  3. Problem Statement Designing a visual aid for Systems I & II Intro Design Requirements Design Testing Budget Conclusion

  4. Design Requirements • Balance • 15 minutes without disturbance • Suitable for demonstrative purposes • Max size: 10 kg, dimensions: 120 mm x 400 mm x 600 mm • Max balance area: 700 mm x 700 mm • Durable • Able to withstand 40 failures • Easily implementable controls • Accessible for repair • Less than 3 minutes • Max cost of $1500 Intro Design Requirements Design Testing Budget Conclusion

  5. Design • Balancing control • Data acquisition • Drive system • Student interaction • Chassis Intro Design Requirements Design Testing Budget Conclusion

  6. Design Center of Gravity Pivot Point • Balancing Control Intro Design Requirements Design Testing Budget Conclusion

  7. Design Inertial Measurement Unit (L. Malo, 2011) • Data Acquisition • Selected Sensors • ADXL203 Accelerometer • Range ±1.7g • Sensitivity 1000mV/g • ADXRS610 Gyroscope • Range ± 300 º/s • Sensitivity 6mV/º/s • Why two sensors? • Accelerometer noise • Gyro drift • Translational acceleration Intro Design Requirements Design Testing Budget Conclusion

  8. Angle (º) Time (s) Intro Design Requirements Design Testing Budget Conclusion

  9. Design • Data Acquisition • Two Solutions • (1) Merging angle readings , where Intro Design Requirements Design Testing Budget Conclusion

  10. Design • Data Acquisition • Two Solutions • (2) Ideal placement Intro Design Requirements Design Testing Budget Conclusion

  11. Design Image taken from: gravitech.us • Data Acquisition • Selected Analog Digital Converter • I2C 12-Bit, Analog-to-Digital Converter • Resolution: Intro Design Requirements Design Testing Budget Conclusion

  12. Design Image retrieved from: digikeys.com • Data Acquisition • Selected Microprocessor • Arduino Nano with Atmel ATmega328 • ADC: 10 bit • Advantages • Low Cost • Easy interface • Large online community Intro Design Requirements Design Testing Budget Conclusion

  13. Design Image taken from: robotshop.com • Drive System • Selected Motor • Pololu 12V DC motor • 8 kg cm stall torque • 5 Amp stall current Intro Design Requirements Design Testing Budget Conclusion

  14. Design Image taken from: greathobbies.com • Drive System • Selected Battery • 14.8 V Lithium Polymer • 5000 mAh • 35 C • Advantages • High Energy Density • Rechargeable • Long Lasting Intro Design Requirements Design Testing Budget Conclusion

  15. Design Image taken from: xorcomputers.com • Student interaction • Adjustable PID control • Potentiometer inputs • Extracting data • LCD Screen • Bluetooth Intro Design Requirements Design Testing Budget Conclusion

  16. Design • Chassis Design • Maintenance Disassembly • Shock Absorption System • Design • Material Selection Intro Design Requirements Design Testing Budget Conclusion

  17. Design Mass C.M • Chassis • Material • Utility grade aluminum • Light weight • Durable • Components • Seven exterior plates • Four interior brackets • Interior rod and adjustable mass • Manufacturing • Bending and drilling Intro Design Requirements Design Testing Budget Conclusion

  18. Design • Maintenance Disassembly • Remove top plate • Extract mass, rod and battery • Disconnect battery • Remove top rear bumpers • Slide up and remove rear plate Intro Design Requirements Design Testing Budget Conclusion

  19. Design Top plate Impact Force Front plate Neoprene rubber Rubber Bumper Back plate Flanges Left Side plate • Shock Absorption Intro Design Requirements Design Testing Budget Conclusion

  20. Design • Forces • F = 42.466 N • Modulus of Elasticity • = 33.9728 KPa • Shore Hardness • 40 A 22 Material Selection Intro Design Requirements Design Testing Budget Conclusion

  21. Prototype & Simulation J. Stewart, 2011 J. Stewart, 2011 Intro Design Requirements Design Testing Budget Conclusion

  22. Tm Fy Fy Tm Fx Fg Fg Ff Fx Simulation Free Body Diagram: R. Ruben, 2011 Intro Design Requirements Design Testing Budget Conclusion

  23. Simulation Equations of Motion: Intro Design Requirements Design Testing Budget Conclusion

  24. Simulation Simplified Block Diagram: J. Stewart, 2011 Intro Design Requirements Design Testing Budget Conclusion

  25. Simulation • Upcoming Features: • Resolution • PID Controller • Motor Backlash • Motor Deadband Intro Design Requirements Design Testing Budget Conclusion Current Features: • Sample Time • PID Controller • Angle Calculation • Resolution • Angle Calculation • Friction • Rolling Resistance • Pin Friction • Saturate Controller Output • Voltage

  26. Prototype & Simulation Height (m) Distance (m) Intro Design Requirements Design Testing Budget Conclusion

  27. Prototype & Simulation Height (m) Distance (m) Intro Design Requirements Design Testing Budget Conclusion

  28. J J. Stewart, 2011

  29. Prototype & Simulation Accelerometer & Gyroscope Motor Power Supply ArduinoDuemilanove with ATmega328 Microprocessor 12 bit Analog to Digital Converter Intro Design Requirements Design Testing Budget Conclusion

  30. Prototype & Simulation PID Control Tuning Microcontroller Power Supply Bluetooth Wireless Communication Motor Controller Intro Design Requirements Design Testing Budget Conclusion

  31. Prototype Intro Design Requirements Design Testing Budget Conclusion • Cost ~ $350 • Angle Resolution 0.07° • Complimentary Filter • Control Loop Frequency 62.5 Hz • PID control • Implemented Student interaction • PID Tuning Gains • Bluetooth Wireless • Currently Stable in specific conditions

  32. Budget Intro Design Requirements Design Testing Budget Conclusion

  33. Conclusion Intro Design Requirements Design Testing Budget Conclusion • Design requirements proven: • Balance • Suitable for demonstrative purposes • Durable • Easily implementable controls • Accessible for repair • Max cost of $1500

  34. Conclusion 35 Intro Design Requirements Design Testing Budget Conclusion • Accomplishments • Working prototype • Working Simulation • Next steps • Building • Control design

  35. Acknowledgements Intro Design Requirements Design Testing Budget Conclusion Dalhousie University Professor Bauer Professor Militzer Angus, Albert, Jon, Mark, and Morgan Shell

  36. Questions ?