Dancing Segway

The Brief

Use the systems and signals knowledge gained in the course to program the Segway to be able to balance itself and react to music. (The hardware for this project is provided, it is about knowing the required theory and applying it.)

Our Inspiration

• This challenge required the implementation of a proportional-integral-differential (PID) algorithm using the pitch angle as the set-point variable to control the motors to maintain the pitch angle to be zero (vertical).

• This was initially attempted with stabilizers (much like when I learned to ride a bike), and then removed after self-balancing was achieved.

• The outcome was assessed with a live demonstration as well as video of the robot dancing.

Skills Developed

• Analysing and interpreting signals in both time and frequency domains.

• Analysing and interpreting signals in both analogue and digital forms.

• Using Matlab and similar tools to perform analysis of signals and systems.

• Extracting useful information from signals through analysis, filtering and other form of signal conditioning.

• Understanding system behaviour in terms of poles and zeros; performing analysis and prediction of such systems.

• Employing principles of feedback to improve various performance parameters in an electronic system.

• Analysing simple feedback systems to establish stability in the system.

• Designing and tuning a PID controller.

• Implementing both signal processing and control algorithms in a standalone, embedded electronic system using real-time programming techniques.

Team

Owain Pill, Ken Mah