GP2D12 Optoelectronic Device

IR SENSOR enough for balancing.
you can directly access from internet for manual detail.

FEATURES
• Analog output
analog output make your job more easier, because you can directly connect to the PIC port. but remember that, the signal receive will have noise, then you need to filter it out. here i use capacitor 0.1uF. if you don't know the correct value please do an experiment.
• Effective Range: 10 to 80 cm
place your IR sensor in between the range for better performance.

• LED pulse cycle duration: 32 ms

• Typical response time: 39 ms

• Typical start up delay: 44 ms

• Average current consumption: 33 mA

• Detection area diameter @ 80 cm: 6 cm

design concept

before i go for more detail let me explain the design concept. hopefully can help you during design stage

Outline

• introduction
• objective
• project scope
• methodology
• achievement

Introduction
1.The two-wheel balancing robot has the exact behavior of the inverted pendulum system which is known for its nonlinear andsystem.
2.The robot will balance it self by

controlling the rotation of the wheels which is the main objective.

3.The robot has three degrees of

freedom (DOF).

Objective

§Build an autonomous two-wheel balancing mobile robot based on the inverted pendulum model as a Mechatronic development project.

§To explore the possibilities of implementing a control system to keep the syste m in equilibrium.

§To implement PID controller to balance the robot in equilibrium.

Project scope

§To design & construct the structure of the robot.

§To design the electronic circuit of the robot.

§Implement digital PID control system for the balancing system.

§Develop a soft ware to control the balancing robot.

The mechanical design.

The software design

using PID controller system

The control system design.

Achievement