PROJECT PROGRESS REPORT-3

ON
DESIGN AND CONSTRUCTION OF
PID BASED SELF BALANCING ROBOT USING
BLUETOOTH MODULE

UNDER THE GUIDANCE

OF
MRS. KALPANA KUREEL

SUBMITTED BY:-

SANDEEP KUMAR CHAURASIYA (1612220063)

RAJAT KUMAR SINGH (1612220056)
REHAN AHMAD (1612220057)
 COMPONENTS
• MPU6050 Module
• TB6612Fng Dual Motor Driver
• Arduino Mega
• Bluetooth Module 4.0 HM-10
• Wheels
• Wooden Sheet Body
• Two 3.7v Li-Ion Battery Used In Series
As a 7.4v Battery
• Vega Motors 150 rpm
• Jumper Wires

• PCB Board
CIRCUIT LAYOUT OF IC’s
ARCHITECTURE OF CONTROLLED
SYSTEM
ARCHITECTURE OF THE COMPLEMENTARY FILTER
FOR ANGLE ESTIMATION
 Tilt angle estimation
1. Blue line: Output value of complementary filter.
2. Red line: Direct integration of gyroscope angular rate.
3. Green line: Angle deduced from accelerometer measurement using the direction cosine
method.
ARCHITECTURE OF WHEEL
SYNCHRONIZER
First Figure Shows the experimental results of wheel travel distances
with and without wheel synchronization,
and Second Figure shows the motor control signals under wheel
synchronization. It is clear that wheel synchronization is effective.
 PID TUNNING
• Set I and D term to 0, and adjust P so that the robot starts to oscillate (move back
and forth) about the balance position. P should be large enough for the robot to
move but not too large otherwise the movement would not be smooth.
• With P set, increase I so that the robot accelerates faster when off balance. With P
and I properly tuned, the robot should be able to self-balance for at least a few
seconds.
• Finally, increase D so that the robot would move about its balanced position more
gentle, and there shouldn’t be any significant overshoots
 I2C INTERFACE
• Inter-Integrated circuit(Pronounced as I squared C) is a 2 wire
serial bus typically used to communicate with sensors and other
small components.
• The two lines of the I2C bus are SDA(Data) and SLC(Clock) which
can be run in parallel to communicate with the several devices at
once.I2C allows upto 112 “Slave”(Such as Sensors) devices to be
controlled by a single “Master”(Such as Arduino,in our case).
• Each slave device on the bus must have it’s own unique address so
the master can communicate directly with the intended device.
THANK YOU!!!