Projects / Mechanical / Project 57

Self-Balancing Robot with PID Control

Mechatronics / ControlMedium

Approx. component budget: Rs. 5,000 - 9,000

Objective

Make the robot balance itself and find how PID gains, wheel size and weight position change its stability.

A two-wheel robot with geared motors, an MPU6050 IMU, a motor driver and an Arduino/ESP32 running a PID controller, on a light frame with a battery.

The inverted pendulum, PID control and sensors, the basics of control in mechatronics.

Arduino/ESP32, MPU6050, Python or Excel plots. Needs patience for tuning. Test on a smooth floor.

Built and tested Self-Balancing Robot with PID Control; objective: make the robot balance itself and find how PID gains, wheel size and weight position change its stability.
Measured and analysed tilt angle vs time response and PID tuning results; wrote the report and presented the results in a viva. Add your own numbers: [x].

Replace [x] with your own measured results. Write only what you really did.

A short guide that helps you decide and prepare. It contains:

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