Simulation of a Self-Balancing Platform on the Mobile Car

• Main Authors: Bushra Amer Tawfeeq, Maher Yahya Salloom, Ahmed Alkamachi
• Format: Article
• Language: English
• Published: Al-Khwarizmi College of Engineering – University of Baghdad 2021-09-01
• Series: Al-Khawarizmi Engineering Journal
• Online Access: https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/747

        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.