Today, I tried making a self-balancing bot to learn about PID controllers and the Kalman filter. Bought all the parts from Claran Martis and was excited to begin. Cut a 90x130 sq. mm piece of blue PVC sheet of 3 mm thickness and tempered it under a gas flame to increase its strength.
Uploaded the code to the Arduino and waited for the bot to stabilise. It didn’t. Tried changing P for a couple of hours to get the bot to oscillate. That didn’t work.
Later, I realised that I hadn’t longitudinally balanced the bot. When the components of the bot are located on either side of it’s centroidal axis so that the bot doesn’t tilt to either side, it’s said to be balanced. Ideally, this will be a point (Center of Gravity), but in reality, it a line, i.e, a continuous set of points.
If the centre of mass of the components does not fall within the range of values of the CG, the bot is inherently unbalanced. This makes it difficult for the algorithm to balance the bot.
Steven Reubenstone John Rodrigues please check for errors