One axis self balancing stick (open source)

[@liemph]

Another interesting experiment! I did not upload my trials (maybe later) to explore the relationship between the distance of the motor to the ground as well as the distance of the gyroscope sensor relative to the motor. In some cases, the PID control system I used did not work well if the distance of the motor was too high from the ground. On the other hand, if the distance was too small then although it could stand upright it showed some vibration across the equilibrium point.

[@ReMRC]

I tried change IMU place to near motor. Theoretically this is bad think. But... kzbin.info/www/bejne/ppeTlJqGdq14j6M

[@artmen1516]

Very Interesting self-balancing projects!, all of them have PIDs implemented? If so, do you tune the gains manually? Have you ever implemented an auto-tuning method in one of these projects? Have you tried another control approach?

[@ReMRC]

PID? No. Yes, I tune the gains manually. Auto tuning - no. Another control - yes.

[@지훈윤-m3f]

When applying Arduino code to a robot, do I need to apply both 'one_axis_reaction_wheel_stick.ino' code and 'functions.ino' code?

[@ReMRC]

This is a beginner's question. Both files must be in the same folder.

[@onesent636]

where did you get the motors and all the other parts from ?

[@mark1944]

Great project! Any tips on tuning or initial setup. I've finally got the correct motor for this but when I try to balance it just spins the motor really fast.. Thanks

[@ReMRC]

No need to tuning anything, it works immediately. More than one person, who did it, sent me a video of how it works.

[@mark1944]

@@ReMRC thanks for the info. So no need to set the balancing point?

[@ReMRC]

@@mark1944 Set the balancing point is needed in all my balancing robots.

[@mark1944]

How is it done on this model?

[@OwenWilliamsRobotics]

Does this have a single PID loop or two? Do you think it'll perform better with an encoder?

[@ReMRC]

LQR. With encoder result the same. Not better.

[@tinhhuynh5046]

how to calculate the X1, X2, X3 values?

[@ReMRC]

I don't calculate.

[@jakobkatrasnik8684]

I have built a cube with one motor only but if the balance center is not exactly at 45° it doesn't stand. I am using your code and am unsure why it doesn't auto-correct for off center balance like in this video.

[@ReMRC]

Can you show the video? Maybe I can help. My email you can found in channel "About".

[@MrKugelkopf]

Do you know if there are there cheaper Motors that would work for this?

[@ReMRC]

Cheaper? I don't know... About 15$ today.

[@nazmulhasanshajib9721]

Hi, could you please help me out? I'm very much interested in doing this project as a undergrad student. But, I'm out in the blue and literally have no clue where to start. I tried reading some papers but, they seemed very complex to me. I'd be grateful if you could give me some guidelines such as what to read or follow and how to build this(details of the components).

[@omniyambot9876]

you must at least have some knowledge with electronics and programming

[@nazmulhasanshajib9721]

@@omniyambot9876 I have some basic and fundamental knowledge about electronics and programming. But, as I tried to read papers for my project on this topic, I literally couldn’t understand a single equation from the papers and gave up. But, if I can get a list of components and the logics used, I'm confident that I can work my way around.

[@omniyambot9876]

@@nazmulhasanshajib9721 I built this in a single day crudely and I also believe you could do it if you are determined enough. Reaction control is basically reacting to opposite to the direction of motion. A clockwise moving mass will make a counterclockwise movement to the main body you are balancing. I did not use an equation at all because every situation is unique and those equations are very far from the real world when you have endless variables. So I just did hundreds of experiments adjusting my program. With a reliable motor, sensor, thinking it must work. And if it did worked, you can perfect and smoothen it the following days.

[@nazmulhasanshajib9721]

@@omniyambot9876 Noted with thanks. Could you please provide the list of components you used?

[@omniyambot9876]

@@nazmulhasanshajib9721 I used gyroscope MPU-6050 6DOF Module 3.3v (1$ in my country), KV2600 Brushless DC Motor(Don't use it, it's expensive, heavy and very powerful. I ran it in lower analog signals. Just use lighter brushless motor.) you use appropriate driver for motor according to current and voltage usage. I used STM-32 mcu but you could just use an arduino. Not sure but it also looks like he used some kind of other sensors like tachometer but I didn't use and other else and it worked for me smoothly. Plus I'm very cheap person. Other materials are cardboard, some bolts & bearing appropriate to the design, hot glue, but most importantly you must have access to a 3D printer if you don't do machining. I gave my dimensions to my friend and he designed and printed it. Obviously my technique and the appearance of mine is very different to this video. That's why I suggest doing it yourself and experimenting trial and error.

[@tinhhuynh5046]

i can't find the pwm.h , Please help me.

[@ReMRC]

I don't use pwm.h in this source.

[@tinhhuynh5046]

@@ReMRC thank you. i have used another library and then it's work is oke. but i have a question can you help me answer. how to calculate the x1x2x3 values?

[@ReMRC]

@@tinhhuynh5046 I don't calculate.

[@ashikkhan2840]

I want to build this with LQR!! Could you help me???

[@ReMRC]

Maybe you can!

[@ashikkhan2840]

Thanks a lot for replying me. May be i can you are right but i need your help. I just know theory but i think practical implementation is too far from that!! How do you find gain matrix K in LQR??? Could you share your email,or facebook id by which i can contact with.

[@ashikkhan2840]

Pls tell something, i need your help

[@ReMRC]

@@ashikkhan2840 I finded try and error method. :) This is hard for first time, but many experiments gives understanding how this works. This would also work with PID. My english is poor, so it would be hard for me to help more...

[@manishpoudel4540]

@@ReMRC nice work and also if your english is poor then you can help in any language we will convert it i also want to know how you made this

[@fitranurmayadi]

Interesting project.. i've built one 😄

[@no.1shrimp494]

hello! I'm trying to do the same project, but I got some problem about code. Do I need to download "PWM.h library" from somewhere? When I verify the code it say "setPWM" was not declared.

[@ReMRC]

Yes, PWM library github.com/terryjmyers/PWM

[@no.1shrimp494]

@@ReMRC thanks for the library I install it but when I verify it still not declared is there anything I need to edit?

[@ReMRC]

@@no.1shrimp494 Sorry, I looked at the code now and remembered that the one axis self balancing stick doesn't need any PWM libraries. setPWM cannot be undeclared, this function is in functions.ino

[@tantzeern9999]

@@ReMRC may i ask how to insert this function??

[@ReMRC]

@@tantzeern9999 What function?