The Power Consumption Decreasing of the Two-Wheeled Balancing Robot

Abstract

This article is devoted to solving the task of decreasing the power consumption of a two-wheeled balancing robot. Since the power source of this device is on-board batteries the requirement for power consumption is relevant. In the course of the work the analysis of the device processes which shows that a significant current flows in the windings of the motors during the stabilizing system operation is carried out. This is the reason for the high power consumption. In addition this causes the motor windings heating which also has a negative effect on the system operation. Further in the work the factors influencing the power consumption of the device are researched taking into account the features of stabilization system implementation on a microcontroller and the features of the actuators and their control. Based on the result of this research a method of reducing ripple of the current in the motor windings is proposed and an example of its implementation in the control program of the device is given. It is shown that such system can be realized. And finally the results of measuring the supply current of the device which show significant reducing the power consumption are given.