Abstract

 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.
Highlights
The self-balancing platform has always been a very challenging area to work on
The simulated model of the self-balancing platform on the mobile car was tested in a Simulink environment included in (MATLAB R2020a) to validate simulated model capabilities to self-balancing under disturbance scenarios
The self-balancing behavior of the simulated model for the self-balancing platform on the mobile car resulted from the platform's simulated model subjected to disturbance is shown in figure 10
Summary
The self-balancing platform has always been a very challenging area to work on. It was elevated to a new level by introducing modern technologies, such as a PID controller, an IMU sensor (gyroscope and accelerometer), model simulation [1]. The compensation for the platform's angular fluctuation during its movement in the uneven. MathWorks's mechanism to design, model, simulate, and result-validate any physical or mechanical system is the Simscape Multibody Library [4][5]. Simscape Multibody software is developed so that its block libraries are used to simulate the mechanical system according to basic physical principles (Newtonian dynamic of forces and torque). Simscape Multibody software works in the Simulink environment and interface with Simulink and Bushra Amer Tawfeeq
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