LOGO MINIWAY Twowheeled selfbalancing robot 1 www themegallery

LOGO MINI-WAY Two-wheeled self-balancing robot 1

www. themegallery. com MINI-WAY Content 1 Introduction 2 Project Management 3 Requirement 4 Hardware Design 5 Algorithms & Implement 6 Testing & Results 7 Conclusion 2

Introduction Content Ø Idea Ø Advantages www. themegallery. com Ø Existing products Ø Scope 3

Introduction Idea v Human’ balance Balance v Balance a stick Fall Balance a stick www. themegallery. com v Two-wheeled self-balancing robot Segway automatic electric vehicle 4

Introduction Advantages Narrow traffic www. themegallery. com Strange Style Environment-friendly Text Easy to use Commodity transferring Medium Price 5

Introduction Advantages(cont. ) v Platform for the develop humanoid robot www. themegallery. com v Complement movement technology solution 6

Introduction Existing products v Nicola’s robot ü CPU: Arduino diecimila ü Actuators: 2 * EMG 30 ü Sensors: IMU sensor ü Cost to build: $350 www. themegallery. com v DIY Segway ü Controller: At. Mega 168 ü Sensors : § ADXRS 614 § ADXL 203 ü Cost to build: ~$400 7

Introduction Scope v Create small scale model similar to Segway: ü High: 50 cm ü Overall Footprint : 15 cm x 30 cm v Budget: $150 www. themegallery. com v Schedule: 4 months MINI-WAY clay model 8

Project Management Content Ø Project Information Ø Project Team Ø Project Model www. themegallery. com Ø Plan Ø Risk Ø Communication 9

Project Management Project Information v Project Name: MINI-WAY v Project code: MINI-WAY v Production type: Two-wheeled self-balancing robot www. themegallery. com v Timeline: From December 2012 to April 2013 10

Project Management Project Team Hung. PD Supervisor www. themegallery. com Hieu. NN PM/Dev Lam. VV Quy. TK Dev/Test T&QA Truong. NM Des/Dev 11

www. themegallery. com Project Management Project Model Iterative and Incremental Development 12

Miniway_Project Plan 13 g sin Clo ori ng 83 days Mo nit t ym en t sul Re sti ng Te De plo gn me ati nt on ple Im De si S SR 16 days Te c An hnica aly l sis Int Proje rod ct uce Cre at Pla e n www. themegallery. com Mo g & nito rin Clo sin g on ec uti Ex In & itiat ion Pla nn ing Project Management Plan 14 days

Project Management Risk Difficulty in: ü Design hardware ü Control time to purchase devices, printed circuit www. themegallery. com ü Implement theory 14

Project Management Communication v Work offline five days per week at lab room. v Other : Email, Phone, yahoo, www. themegallery. com Facebook 15

Requirement Content Ø Function Requirement www. themegallery. com Ø Non-functional Requirement Ø Mechanical Design 16

Requirement Function name Description: Auto balancing The robot maintains balance position by moving forward or backward. Normal Course of Events: 1. Place the robot on a flat surface and hold it in balance position 2. Switch power ON 3. Let the robot move arround freely - The robot must not venture more than 70 centimeters from starting point. - Vertical position must not exceed 30 degree Special Requirements: www. themegallery. com Function Requirement Function name Description: Rebalance The robot need to recover itself from external disturbance Normal Course of Events: 1. The robot is powered on and maintaining balace position 2. Use hand to alternate it anglular postion 3. - Let the robot rebalace - In case of unable recovery, the robot should perform auto shutdown or temporary disable its electric motor Special Requirements: The robot must not regain balace postion while not moving more than 1. 5 meter from starting point. 17

www. themegallery. com Requirement Non-functional Requirement v. Performance • Power-on setup time is less than two second. • Drift no more than 5 degrees from set-point while standing. v. Serviceability • All component could be disassemble and reassemble by hand tool, no special equipment required. • Accumulated operating time before major repair: 1 week. v Reliability • Onboard firmware should be able to run at least 2 hours continuously without the need of manual or auto reset. v Cost • Total build cost is less than 300$. v Safety • Electronics and mechanical part is well secured. • All connector and electrical join is insulated. 18

www. themegallery. com Requirement Mechanical Design 19

www. themegallery. com Requirement Mechanical Design(cont. ) 20

www. themegallery. com Requirement Mechanical Design(cont. ) 21

www. themegallery. com Requirement Mechanical Design(cont. ) 22

Hardware Design Content Ø System Architecture Ø Block Diagram Ø Tools Ø Devices www. themegallery. com Ø Controller Broad Design Ø Printed Circuit Ø Final board 23

www. themegallery. com Hardware Design System Architecture 24

www. themegallery. com Hardware Design Block Diagram 25

www. themegallery. com Hardware Design Tools 26

Hardware Design Devices v Microcontroller ü Fast 16 -bit microprocessor ü 48 Kbytes on-chip Flash ü 1 x I 2 C module ü 2 x UART modules www. themegallery. com ü 4 x PWM output ds. PIC 30 F 4013 30 I/P ü Low power consumption 27

Hardware Design Devices(cont. ) v IMU Sensor ü Triple Axis Accelerometer ü Triple Axis Gyroscope ü IIC Communication ü Operate at 3. 3/5 v www. themegallery. com ü Easy to configure GY-86 (MPU 6050 -HMC 5883 l-MS 5611) 28

Hardware Design Devices(cont. ) v Bluetooth module ü Long range, high sensitivity ü Bluetooth 2. 0 compatible ü UART Interface ü Easy to configure with AT HC-06 Bluetooth module www. themegallery. command 29

Hardware Design Devices(cont. ) v Motor controller ü Operating supply voltage of up to 46 V ü Total DC current of up to 4 A ü Accept standard TTL logic www. themegallery. com levels ü Over-temperature protection 30 L 298 N dual H-Bridge motor driver

Hardware Design Devices(cont. ) v Motor ü Operate at 12 Volt ü Compact ü Built-in encoder www. themegallery. com 12 volt brushed DC motor with planetary gearbox 31

Hardware Design Devices(cont. ) v Battery ü High capacity ü High discharge rate ü Small and light www. themegallery. com Turnigy 2200 m. Ah 3 S 20 C Lipo Pack 32

Hardware Design Controller Broad Design www. themegallery. com Dual motor driver Power supply Microcontroller and headers 33

www. themegallery. com Hardware Design Controller Broad Design(cont. ) 34

www. themegallery. com Hardware Design Controller Broad Design(cont. ) 35

www. themegallery. com Hardware Design Controller Broad Design(cont. ) 36

www. themegallery. com Hardware Design Controller Broad Design(cont. ) 37

www. themegallery. com Hardware Design Printed Circuit 38

www. themegallery. com Hardware Design Final board 39

Algorithms & Implement Content Ø Algorithms Ø Implement www. themegallery. com Ø Experiment 40

Algorithms PID Algorithm v PID – Proportional Integral Derivative v Equation: Symbol v Where Description Set-point: the balance position of the robot Process variable: the position of the robot www. themegallery. com Output Proportional term Integral term Derivative term Error = SP - PV Time 41

Algorithms PID Controller www. themegallery. com v PID controller for balancing robot: 42

www. themegallery. com Algorithms Tilt Angle Calculation �� = (180/Pi) * Arctan[ Rx/SQRT(Ry 2 + Rz 2) ] 43

www. themegallery. com Algorithms Gyro Angle Drift 44

www. themegallery. com Algorithms Accelerometer Angle fluctuate 45

Algorithms Filter www. themegallery. com v Complementary Filter 46

www. themegallery. com Algorithms Complementary Filter 47

Implement Firmware www. themegallery. com v System Flowchart: 48

Implement Firmware www. themegallery. com v Initiate Process: 49

Implement Firmware www. themegallery. com v Balancing Process: 50

Implement Firmware www. themegallery. com v Complimentary Filter Process: 51

Implement Firmware www. themegallery. com v PID Calculator Process: 52

Implement Firmware www. themegallery. com v Motor Controller Process: 53

Experiments PID Tuning v Step 1: Tuning only Proportional term (Ki = 0, Kd = 0). v Step 2: Using Ziegler-Nichols method equations: www. themegallery. com v Where Symbol Description Ultimate gain of Kp Oscillation period v Step 3: Correction Kp, Ki, Kd. 54

Experiments PID tuning www. themegallery. com v 55

Experiments PID tuning www. themegallery. com v 56

Experiments PID Controller www. themegallery. com v 57

Experiments PID Controller www. themegallery. com v 58

Experiments PID Controller www. themegallery. com v 59

Testing & Results Content Ø Test Plan Ø Test Item Example www. themegallery. com Ø Test report Ø Test result 60

Testing & Results Test Plan Device testing www. themegallery. com Unit test Function test System test 61

www. themegallery. com Testing & Results Test Item Example 62

www. themegallery. com Testing & Results Test Report 63

Testing & Results Test Result ü Test result: Device test Unit test Integration test System test Total Pass 18 21 20 8 100% Fail 0 0 0% Untested 0 0 0% 18 21 20 8 100% Total www. themegallery. com ü Bug result: Device test Unit test Integration test System test Total Fixed 3 1 1 0 83. 33% Fail 0 0 16. 67% Total 3 1 2 0 100% 64

Conclusion Content Ø Limitation www. themegallery. com Ø Perspective Ø Demo 65

Conclusion Limitation www. themegallery. com v. For now, MINI-WAY robot can just auto balancing only on a flat surface. v. The robot is still a small model for two wheel balancing robot. The robot can just carry small thing that is not too heavy. 66

www. themegallery. com Conclusion Perspective 67

Conclusion Demo www. themegallery. com Demo 68

LOGO 69