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Built-From-Scratch Self-Balancing Inverted-Pendulum Wheelie-Popping Remote-Controlled Vehicle

March 14, 2008 Jude Collins Christopher Madsen. Built-From-Scratch Self-Balancing Inverted-Pendulum Wheelie-Popping Remote-Controlled Vehicle . Preliminary Design Presentation. Technical aspects of the robot Literature/Patent search Schedule Finances. Overview.

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Built-From-Scratch Self-Balancing Inverted-Pendulum Wheelie-Popping Remote-Controlled Vehicle

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  1. March 14, 2008 Jude Collins Christopher Madsen Built-From-Scratch Self-Balancing Inverted-Pendulum Wheelie-Popping Remote-Controlled Vehicle

  2. Preliminary Design Presentation • Technical aspects of the robot • Literature/Patent search • Schedule • Finances

  3. Overview • Robot system overview—Chris • Microcontroller • Inertial measurement unit • Bluetooth radio • H-Bridge/Motors • Remote control—Jude • Microcontroller • Bluetooth radio • N64 Controller

  4. Overview • Literature/product search—Chris • “Trajectory Tracking Control for Navigation of Self-contained Mobile Inverse Pendulum” (1994). • Segway (2002). • David P. Anderson's “nBot” (2003). • Schedule and finances—Jude • Questions

  5. Robot system overview

  6. Robot system overview

  7. Microcontroller • MSP430F1611 • Running 4 MHz • 12 bit A/D with 8 pin-accessible inputs • Two 16 bit timers • 1.8-3.6v

  8. Inertial Measurement Unit • IDG-300Gyroscope • ADXL-330Accelerometer

  9. IDG-300 Gyroscope • Dual-Axis rate gyroscope • Operates by oscillating masses and capacitively measuring vibration caused by Coriolis effect. • Sensitivity: 2 mV/deg/s • Max rate: 500 deg/s • Operating voltage: 3.0-3.3v

  10. ADXL-330 Accelerometer • Triple-axis accelerometer • Micro-machined structure suspended over silicon by polysilicon springs. Plates mounted on moving structure and a fixed structure act as a variable capacitor in a filter circuit to measure acceleration. • Sensitivity: ~300mV/g • Max acceleration: ±3.0g • Operating voltage: 2.0-3.6v (sensitivity is ratiometric)‏

  11. PID Controller

  12. Estimating pendulum orientation • Integrating rate gyros is subject to drift errors. • Accelerometers only work to determine orientation when not accelerating. • Use both estimates to get better estimate of orientation.

  13. Bluetooth Radio • Basically a breakout board for NXP's BGB203. • Class 1 so has a 100m range • 100 mW max transmitted power • 3.3 volts • 1 Mbps max UART

  14. H-Bridge • LMD-18200 • 3 amps continuous, 6 amps temporary

  15. Remote Control

  16. The Remote Control • Needed Peripherals • Joystick • A few buttons • Modify old N64 controller. • Exceeds requirements • Cheap ($5-$15 on Amazon.com)‏

  17. Control Flow

  18. The microcontroller • Needed peripherals • UART • fclk > 1 MHz • Low Vcc • ATMEGA8515L • Already had the chip. • UART • 20 MHz • 2.7 – 5.5 V • Low Cost ($3.06-$5.27 Digikey.com)‏

  19. N64 Controller Interface • Bidirectional data line. • PWM - 1:3 • Micro sends poll request. • Bit-Bang 32 bit response. • Fixed Frequency Poll and Transmit • ~20 Hz

  20. Data Line PWM

  21. Literature/patent search • First appearance of similar two-wheeled inverted pendulum that can navigate in 2 dimensions on a plane: “Trajectory Tracking Control for Navigation of Self-contained Mobile Inverse Pendulum” by Yunsu Ha and Shin'ichi Yuta of Japan in 1994. • Position encoders on wheels (2000 step)‏ • Sensors to detect obstacles • No remote-control

  22. Literature/patent search • Segway • Most popular inverted-pendulum type product. • Patented just about everything imaginable concerning inverted pendulum human transportation. • Have several Robotic Mobility Platform (RMP) models

  23. Literature/patent search • David P. Anderson's nBot • Received NASA's Cool Robot of the Week award and subsequently became well-known in the minds of robotics enthusiasts (2003). • Launched a revolution of inverted-pendulum robot building. • Homebrew shaft encoders.

  24. How are we different? • Back EMF encoders rather than mechanical encoders. • Bluetooth radios enabling hardware-in-the-loop simulation. • Goal to stand up autonomously.

  25. Schedule

  26. Finances—Robot

  27. Finances—Remote Control

  28. Finances • Allotted budget: $1000 • Expenditures: ~$500 • Main expenses: • 1 IMU -- $110 • 2 Bluetooth radios -- $120 • 1 MSP430 on breakout board -- $50 • 2 Motors and H-Bridges -- $80

  29. Questions?

  30. Simple inverted pendulum model

  31. Simple inverted pendulum with force input

  32. H-BridgeDirection Control • Forward • Reverse • Brake • Short Circuit

  33. H-BridgeAmplitude Control

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