“Simple to build one axis self stabilizing device witch consist only three components Arduino nano, Nem24 brushless motor, and MPU6050.
This time I will show you how to make a simple One axis self balancing device, which is based on the PID control system. A proportional–integral–derivative controller is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control.
A PID controller continuously calculates an error value as the difference between a desired setpoint and a measured process variable and applies a correction based on proportional, integral, and derivative terms.
In our case, the MPU6050 sensor collects data of the position (more precisely the angle) of the device, and sends that data to the microcontroller which performs calculations based on previously given algorithms and constants, and sends the result to the electric motor, which with its movement tends to hold the device in the desired position. This loop is performed very quickly so that the device is stable in a vertical position. Nuts and bolts are added to the wheel in order to increase its weight, thus increasing the impact of the rotation on the whole device.
The device is simple to build and contains only a few components:
- Arduino Nano microcontroller
- MPU6050 Gyroscope + Accelerometer sensor module
- Nidec 24H brushless motor
- 3pcs Lithium Ion Batteries connected in series
- and 3Dprinted parts”