thanks for the information. this is a great video. I have been trying to make a self-balancing car for years now but just can't seem to find the best code for reading gyroscope. can you help me out pls
Hi, the motor that I bought has an around 1.7 deg backlash on its output shaft. Do you think it will impact the final performance? If yes, I may have to return the motor to the vendor and ask for a good one. Thx.
Does someone has experience about the balancing control loop time? What is a proper control frequency for balancing control? Or maybe does someone know how to estimate/ calculate the required control rate? Currently I am using hoverboard hub motors (BLDC, 36v, about 500w) to build a quite large balancing robot. Any recommendations for motor controllers are highly appreciated;)!
Great video. I have a question....do you know the code to allow the robot to adjust it's set angle if, for example, you put a glass on top of it and changes its center of mass?
That makes sense. One more thing, I've been searching for the code to allow the robot to return to it's original position if pushed, but haven't ben able to find it. would you know?
Thank's for sharing the video. I have some doubts regarding the relationship between the robot's height and the wheel radius. 1. Increasing the height of the robot makes it easier to control just like a broomstick. 2. Increasing the wheel radius will need lesser angular velocity at the motor end to get the same linear displacement. Please correct me if I am wrong, and also suggest the relationship between those two robot design parameters. Are bigger wheels better for the self-balancing robot?
well i didn't try different wheel/chassis-height dimensions but i can say the following: -1 taller heavier chassis will make it harder for the gravity to move it so that can play for you but at the same time, it will make it harder for your motors to move it also. i have seen people recommend bigger radius wheels, so yeah I think that can improve the performance
I have a doubt. Might not be related but I need the solution, as I am not a science student.. It's about drones. When we make our drone remain steady in the air, how do we calculate that specific voltage to be supplied in the motor such that the speed of motor will result to make the drone stay steady? I mean, neither moving upwards nor downwards. Just still at one place in the air. How to calculate that motor speed?? What's the formula???
Hi, after connecting new motors to my robot, the robot oscilates very heavily. It starts off fine, and then the moment it goes over a certain value, it oscilates uncontrollably. Does anyone know why? I think it might be pwm
Pretty good video! I basically guessed on most of my robot, but did my best to keep the weight distribution correct and everything is very solid. Honestly think it is over engineered... The problem I am having though is in the code. I've tried several different codes and cannot get anything to work at all. I'm using and arduino nano, l298n motor driver, and mpu 6050 with a 3s lipo. It is not doing anything at all and I am stumped... If you have any tips that would be greatly appreciated. Thanks!
Hey guys, i'm trying to build the robot with only a ADXL345 accelerometer. why wouldnt that be enough as a leveling sensor? Because i see the mpu6050 Gyro+ accelerosensor everywhere.
well , the mpu6050 uses a motion fusion algorithm to fuse the readings from the acc and gyro which gives much more accurate readings with minimal drift and noise, so do yourself a favor and just buy one it's cheap and many internet sources are using it so you will have an easier time searching for code to use in your project.
hello, I am a student of class 10th, and my team is working on two wheel self-balancing so today we started to make circuit for the robot, but the problem happened that mpu6050 got burned and stopped working so can i know how this happened. And the second problem was we can't do code as we don't understand the basic of the mpu6050 so if anyone can help in code pls reply we are using l298n and 12 v gear dc motor and Arduino uno and mpu6050 with 3.7v li-ion battery pls give some suggestions
I have upload my self balancing code to Arduino and done,but the problem is my robot cannot work like my motor doesn't rotate.Can you help me for the solution, please
try these (12 v 333rpm) i ordered them (didn't arrive yet) i believe they are better than the ones i had before link: www.aliexpress.com/item/4001339371886.html?spm=a2g0o.9042311.0.0.282b4c4d0uUJ0a
THATS WHY HE IS THE MAN!!!
You read my mind, like seriously!
Thanks a lot
great to hear that , good luck
Sir, is quadrature encoded motor is essential?? Or just a normal bo motor can be used ??
not essential, a simple but good quality DC motor will do.
Good man!
Can you pls upload the 2nd part of CNN based lane detection? Was eagerly waiting for that. Hope you upload it👍
thanks for the information. this is a great video. I have been trying to make a self-balancing car for years now but just can't seem to find the best code for reading gyroscope. can you help me out pls
Pure gold
One robot you showed is my classmate's! Thats hilarious :D
yeah, there is a lot of cool projects out there.
Hi, the motor that I bought has an around 1.7 deg backlash on its output shaft. Do you think it will impact the final performance? If yes, I may have to return the motor to the vendor and ask for a good one. Thx.
Does someone has experience about the balancing control loop time? What is a proper control frequency for balancing control? Or maybe does someone know how to estimate/ calculate the required control rate?
Currently I am using hoverboard hub motors (BLDC, 36v, about 500w) to build a quite large balancing robot. Any recommendations for motor controllers are highly appreciated;)!
In my experience you want 5ms to at most 10 ms delay for the control loop
Great video. I have a question....do you know the code to allow the robot to adjust it's set angle if, for example, you put a glass on top of it and changes its center of mass?
just change the set point in the pid control system to be +-1 degrees or so
That makes sense. One more thing, I've been searching for the code to allow the robot to return to it's original position if pushed, but haven't ben able to find it. would you know?
@@TheClickMonger another PID controller for the displacement would do the trick, you need to have wheels encoders.
"just change the set point in the pid control system to be +-1 degrees or so" What would the code look like for this?
Thank's for sharing the video.
I have some doubts regarding the relationship between the robot's height and the wheel radius.
1. Increasing the height of the robot makes it easier to control just like a broomstick.
2. Increasing the wheel radius will need lesser angular velocity at the motor end to get the same linear displacement.
Please correct me if I am wrong, and also suggest the relationship between those two robot design parameters. Are bigger wheels better for the self-balancing robot?
well i didn't try different wheel/chassis-height dimensions but i can say the following:
-1 taller heavier chassis will make it harder for the gravity to move it so that can play for you but at the same time, it will make it harder for your motors to move it also.
i have seen people recommend bigger radius wheels, so yeah I think that can improve the performance
@@hobby_coding Thank you so much!!
The weight of my robot is 3kg , req tilt 30 degrees , height 0.35 m. I selected a geared dc motor that have Max torque of 15kg cm , it it ok?
I have a doubt.
Might not be related but I need the solution, as I am not a science student..
It's about drones.
When we make our drone remain steady in the air, how do we calculate that specific voltage to be supplied in the motor such that the speed of motor will result to make the drone stay steady? I mean, neither moving upwards nor downwards. Just still at one place in the air. How to calculate that motor speed?? What's the formula???
Its all control systems.You can use state space or classical control theory.
In short,there is no single formula.
there is no such formula. you don't vary the voltage but vary the PWM
Hi, after connecting new motors to my robot, the robot oscilates very heavily. It starts off fine, and then the moment it goes over a certain value, it oscilates uncontrollably. Does anyone know why? I think it might be pwm
Life saving......😊
The body of the project is made of what and can we use the 3D printer in the design of the body?
Nice sir❤
I was wondering if it would be better if I made the robot more taller or more wider? My current robot just fall on its front.
Hi
what did you go with?
@@the_hasnat I went with taller. The important part is to calibrize it proplerly and if you change any components or add even a wire, calibrize again.
Pretty good video! I basically guessed on most of my robot, but did my best to keep the weight distribution correct and everything is very solid. Honestly think it is over engineered... The problem I am having though is in the code. I've tried several different codes and cannot get anything to work at all. I'm using and arduino nano, l298n motor driver, and mpu 6050 with a 3s lipo. It is not doing anything at all and I am stumped... If you have any tips that would be greatly appreciated. Thanks!
glad that you like the video.
take a look at this code I found it to be very helpful
github.com/lukagabric/Franko
@@hobby_coding thanks!
Great 👍
How to implement LQR in a robot like that? Even worse, how to find the moment of inertia frequently asked in the state space equation 😢?
The Bifilar pendulum experiment can be used to measure moment of inertia
We are facing problem in codes and balancing the robot properly !! Can u help us plzz???
Good advice overall, but I was hoping for pitfalls on the algorithmic side.
maybe i'll do something like that in the future
Hey guys, i'm trying to build the robot with only a ADXL345 accelerometer. why wouldnt that be enough as a leveling sensor? Because i see the mpu6050 Gyro+ accelerosensor everywhere.
well , the mpu6050 uses a motion fusion algorithm to fuse the readings from the acc and gyro which gives much more accurate readings with minimal drift and noise, so do yourself a favor and just buy one it's cheap and many internet sources are using it so you will have an easier time searching for code to use in your project.
I am using the stepper motor but still my robot not balancing.
everything looks good in the circuit but the motors are not turning
probably a software issue, try narrowing is down by printing the controller outputs in the serial monitor
Interesting. I can recognise the robot from the beginning hmmmm
I'm trying to build self balancing robot using nema17 stepper motors but it's isn't responding when I tilt the gyro
same problem
if you find solution please do share
After picking some speed my balancing robot fells down kindly help.
TRY THIS increase kd by 0.1
hello, I am a student of class 10th, and my team is working on two wheel self-balancing so today we started to make circuit for the robot, but the problem happened that mpu6050 got burned and stopped working so can i know how this happened. And the second problem was we can't do code as we don't understand the basic of the mpu6050 so if anyone can help in code pls reply we are using l298n and 12 v gear dc motor and Arduino uno and mpu6050 with 3.7v li-ion battery pls give some suggestions
Hav you completed ??
@@tanmaymanwar6333 yess
I have upload my self balancing code to Arduino and done,but the problem is my robot cannot work like my motor doesn't rotate.Can you help me for the solution, please
you have to print the PID output to the serial monitor and see wether it's bigger than 0, so you can narrow down the problem.
@@hobby_coding you mean kp,ki,kd or output the mpu 6050?
@@itsnotme1380 i mean the pid output not parmaters kp ki and kd
@@hobby_coding ok thank you
@@itsnotme1380 you are welcome :)
Motors and tyres link, please
try these (12 v 333rpm)
i ordered them (didn't arrive yet) i believe they are better than the ones i had before
link: www.aliexpress.com/item/4001339371886.html?spm=a2g0o.9042311.0.0.282b4c4d0uUJ0a
@@hobby_coding thank you very much 😍😍