GBOT90 Balancing Bot Demos Dirty Martini Test with PID Control

Let's Make Robots Projects Showcase
1

A previous post on the subject of GBOT with PID control was intended to make and learn the hardware and software aspects of microcontrollers with control systems. I used that experience to extend the GBOT into a 5 foot unstable balancing robot. I added an aluminum frame, disabled the forward looking IR range sensors and added a new GP2D120 IR sensor for pitch control. The result is the GBOT90 shown in the link below.

Noise and resolution was an issue but manageable. The Vref was set to 3.0V to improve resolution. No gyros and no acceleromenters were used, just the single GP2D120 IR range sensor for pitch rate & angle measurements. I used the same PID control system from the GBOT but updated the gains. Proportional and integral gains were much higher. Integral gain was surprisingly highest.

youtube.com/watch?v=bxx14Xe2iNg

Here’s the original floor GBOT. Notice the difference between P control and PID control:

youtube.com/watch?v=uTh2DBWAbPs

2

The way forward plan is to add a pair of IR or ultrasonic range sensors to correct drift and follow/avoid objects. Before that, I may add larger wheels for speed and responsiveness. The Tamiya 72101 motors (7.2V 10A stall) should handle the additional torque. Does your company sell large wheels that’ll fit Tamiya?

3

That is certainly a very interesting project! Do you have any secondary objectives in mind?

4

Banebots wheels and hubs can fit almsot any motor and offer a wide range of sizes.
0.4" wide (1/2" hex mount for 1/2" hex hubs) - several diameters
0.8" wide x 2-7/8" diameter - several mounting options
0.8" wide x 3-7/8" diameter - several mounting options
0.8" wide x 4-7/8" diameter - several mounting options

When choosing the hub, ensure it fits the wheel you have selected both in mounting option and width. Color corresponds to rubber hardness.