Optimized Control Strategy for Self-Balancing Robot: Micro-Stepping Motors and PID Algorithm

This research includes the creation and execution of a Self-Balancing Robot (SBR) that is operated by stepper motors. The robot’s primary operation depends on the accurate manipulation of pulse-driven stepper motors, obviating the necessity for a feedback loop. The design utilizes two NEMA-17 stepper motors to control the wheels. It exploits micro-stepping to achieve a stepping angle of 1.8 degrees and minimize overshoot, ringing, and resonance. The SBR incorporates a strategically positioned battery to achieve a design that is weighted towards the top, hence improving the sensation of input when tilting. The essential electronic components include an Arduino Uno microcontroller, DRV8825 stepper motor drivers, an HC-05 Bluetooth module, and an MPU-6050 sensor for measuring the pitch angle through sensor fusion. The control system employs a Proportional-Integral-Derivative (PID) controller to modify motor inputs according to the tilt angle, assuring stability. In addition, we provide a mathematical model of the stepper motor’s properties and a state-space description of the system.Insights into design concerns for such applications are provided by experimental data and model simulations that show how well the components and control algorithms work together to preserve the SBR’s equilibrium.