Abstract: This project explores the possibility to stabilize a hand held serving-tray using a micro-controller, two servomotors and an inertial measurement unit (IMU). It is heavily focused on control theory, specifically using a PID controller. Stabilization of an object using a PID controller have many applications such as drones, camera stabilizers and flight simulators. The report covers the theory necessary to construct a self stabilizing platform and describes involving components in the prototype and how they cooperate. With the gyroscopes and accelerometers involved in the IMU it is possible to determine orientation and rotation of the tray. The construction enables rotation about the x-axis (roll) and y-axis (pitch) but not the z-axis (yaw). The readings from the gyroscopes and the accelerometers are combined and filtered through a complementary filter to estimate the rotations. The servomotors compensate disturbance in keeping the platform horizontal through PID regulation. The PID constants are tuned through tilting the platform at a specific angle and plotting the step response in MATLAB.
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