[anuragh]

thanks for that .
we are trying to make a self balancing bot .
In which tyres are of 7 cm diameter and the chasi bottom part is above 2 cm from the ground.
we are using the flywheel for balancing the bot which is attached to that dc johnson motor rated 8 kgcm .the motor is connected to the l293d motor driver which is further connected to arduino.
we r using the pid controller which will give analog voltage to l293d with respect to the angle deviated , calculated by imu (stick )sensor.

now , we r using flywheel (mass = 500 gram and radius = 4.5 cm) .

we r facing problems :
response time to motor is late.
also unable to balance the bot (whatever be the value of the Kp(i.e. the first step for tuning pid)).

Sir , plz help us na.

should we increase the diameter of the tyres then bot will take more time to fall down completely , but with increase in diameter , the gravity torque will increase .
according to our calculations , centre of mass is coming out to be 7 cm above from the ground.
the inertia of the bot excluding flywheel = 1200 gcm^2 .
inertia of flywheel = 5062 g cm ^2
the maximum torque of the gravity = 0.6 Nm approx.

should we use the different motor driver?
currently we r using arduino duemilaenove,should we use the different microcontroller ?


Observations : when we allow the bot to fall down , we give external voltage to the motor then it counter it , if the angle deviated is around 3 or 4 degree . if the angle is more , it fall down .

2) both sides the angle max deviated should be the 25 after that chasis touches the ground.

we attached our code and the image of the bot .

plz reply.