Simulation of a Self-Balancing Platform on the Mobile Car

In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude...

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Autores principales:	Bushra Amer Tawfeeq, Maher Yahya Salloom, Ahmed Alkamachi
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2021
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/7d725ed93c4640ec80d788e4f570c5e1
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id	oai:doaj.org-article:7d725ed93c4640ec80d788e4f570c5e1
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spelling	oai:doaj.org-article:7d725ed93c4640ec80d788e4f570c5e12021-12-02T18:53:01ZSimulation of a Self-Balancing Platform on the Mobile Car10.22153/kej.2021.09.0031818-11712312-0789https://doaj.org/article/7d725ed93c4640ec80d788e4f570c5e12021-09-01T00:00:00Zhttps://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/747https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude in (X-axis, Y-axis, or both axis) under the influence of road disturbance. To simulate the self-balanced platform's performance during the tilt, an integration between Solidworks, Simscape, and Simulink toolboxes in MATLAB was used. The platform's dynamic model was drawn in SolidWorks and exported as a STEP file used in the Simscape Multibody environment. The system is controlled using the proportional-integral-derivative (PID) controller to maintain the platform leveled and compensate for any road disturbances. Several road disturbances scenarios were designed in the x-axis, y-axis, or both axis (the pitch and roll angles) to examine the controller effectiveness. The simulation results indicate that that the platform completed self-balancing under the effect of disturbance (10° and -10°) on the X-axis, Y-axis, and both axes in less than two milliseconds. Therefore, a proposed self-balancing platform's simulated model has a high self-balancing accuracy and meets operational requirements despite its simple design. Bushra Amer TawfeeqMaher Yahya SalloomAhmed AlkamachiAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 17, Iss 3 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Bushra Amer Tawfeeq Maher Yahya Salloom Ahmed Alkamachi Simulation of a Self-Balancing Platform on the Mobile Car
description	In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude in (X-axis, Y-axis, or both axis) under the influence of road disturbance. To simulate the self-balanced platform's performance during the tilt, an integration between Solidworks, Simscape, and Simulink toolboxes in MATLAB was used. The platform's dynamic model was drawn in SolidWorks and exported as a STEP file used in the Simscape Multibody environment. The system is controlled using the proportional-integral-derivative (PID) controller to maintain the platform leveled and compensate for any road disturbances. Several road disturbances scenarios were designed in the x-axis, y-axis, or both axis (the pitch and roll angles) to examine the controller effectiveness. The simulation results indicate that that the platform completed self-balancing under the effect of disturbance (10° and -10°) on the X-axis, Y-axis, and both axes in less than two milliseconds. Therefore, a proposed self-balancing platform's simulated model has a high self-balancing accuracy and meets operational requirements despite its simple design.
format	article
author	Bushra Amer Tawfeeq Maher Yahya Salloom Ahmed Alkamachi
author_facet	Bushra Amer Tawfeeq Maher Yahya Salloom Ahmed Alkamachi
author_sort	Bushra Amer Tawfeeq
title	Simulation of a Self-Balancing Platform on the Mobile Car
title_short	Simulation of a Self-Balancing Platform on the Mobile Car
title_full	Simulation of a Self-Balancing Platform on the Mobile Car
title_fullStr	Simulation of a Self-Balancing Platform on the Mobile Car
title_full_unstemmed	Simulation of a Self-Balancing Platform on the Mobile Car
title_sort	simulation of a self-balancing platform on the mobile car
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2021
url	https://doaj.org/article/7d725ed93c4640ec80d788e4f570c5e1
work_keys_str_mv	AT bushraamertawfeeq simulationofaselfbalancingplatformonthemobilecar AT maheryahyasalloom simulationofaselfbalancingplatformonthemobilecar AT ahmedalkamachi simulationofaselfbalancingplatformonthemobilecar
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Simulation of a Self-Balancing Platform on the Mobile Car

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