Implementación de un controlador PID difuso para mantener el equilibrio en un robot BallBot durante el desplazamiento

Abstract

This project consists of the implementation of the fuzzy PID controller in the Ballbot EV3 robot, it contains sensors, actuators, EV3 body, connection cables, connectors and uses the MicroPython software. Starting from the robot modeling, the Lagrange transforms are applied in the equations of motion to determine the acceleration, therefore, the position at the output is calculated and compared with the input data (ideal position reference of zero degrees) at the closed loop system; therefore, an error is generated in the position, so a fuzzy PID control is applied to the voltage of the gearbox direct current motors. It is worth mentioning that the fuzzy part of the PID controller makes use of eight linguistic rules, fuzzification and defuzzification processes that help determine an ideal set of commands for the robot to maintain balance during its movement without problems and minimal deviations. Accordingly, functional tests are performed with Ziegler Nichols fuzzy PID and PID controllers based on the critical gain method, using different weight levels up to a maximum of 200 grams on their platform, on a maximum three-degree incline plane with respect to the horizontal.