Stability Control Investigation of a Self-Balancing Platform on the Robot Smart Car Using Navigation Parameters

Abstract

A self-balancing platform is constructed on a robot smart car, and its navigation parameters are investigated by running the car outdoors on a straight surface with structured bumps of 3and 5 mm in height. A ball-and-socket joint are supported at the centre of the platform, which is to be freely rotated with the lateral and longitudinal movement of the platform and in each axis, is controlled by three servomotors. Which move according to the recorded data movements from a gyro-accelerometer sensor which controlled by an Arduino UNO. The SimMechanics Matlab simulation helps to give the initial values of all parameters and the additional unexpected signals due to the influence of bumps on the vibration signals, with the proportional-integral-derivative (PID) controller, used to control the relationship of the rapid simulation of the robot smart car and mathematical model between platform and car shock absorber system with respect to the servomotor's rotation angle. These bump is more effective on the pitch and roll angle values when compared to other parameters, with more than 815 degrees and error up to 35 degrees due to vibration signals, and the time required for stabilization increases due to the bump height and the navigation parameters, roll angle from 2 to 6 in mean change value 2, yaw angle from 43 to 59 in mean change value 8 and pitch angle from 1 to 2 in mean change value 0.5, which indicates that yaw, roll and pitch angle have variation changing in Mission Planner software.