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Gyroboy - self-balancing two-wheel robot based on Lego EV3

version 2.0.0.1 (5.24 MB) by Pavel Roslovets
Model of EV3 segway robot with LQR controller. Could be run on hardware (EV3)

17 Downloads

Updated 06 Aug 2019

GitHub view license on GitHub

- Build self-balancing Lego robot Gyroboy from scratch
- Practice in control system design
- Learn how the Model-Based Design works
- Control Gyroboy from App Designer app or from Android
- Have fun!

HOW TO DOWNLOAD
Execute in MATLAB:
eval(webread('https://git.io/fjXQE'))

MORE INFO
https://github.com/roslovets/GMP

GYROBOY VIDEO COURSE
All videos are on Russian but you can enable auto-translate captions on Youtube
https://youtu.be/wE-5eSu2ap0

Cite As

Pavel Roslovets (2019). Gyroboy - self-balancing two-wheel robot based on Lego EV3 (https://www.github.com/roslovets/GMP), GitHub. Retrieved .

Comments and Ratings (9)

Yixiu Chen, it's done to respect coordinate system of mechanics described in NXTWay documentation. When you change sign you make entire feedback positive.

Yixiu Chen

Can someone explain why I have to take a -1 after the PWM in the EV3 block, I have already tried, when multiplied by 1, the system is no longer stable. Thanks.

Frank Wang

thanks for the excellent work.

It will be great if someone can give the the physical definition of variables in the code:
theta_int,
theta,
psi
theta_dot,
psi_dot,
phi,
phi_dot

thanks

Armin Azim

Works really great and has a very comprehensive video tutorial (although in Russian, it you can follow up quite well with the auto-translate subtitles).

mt nguyen

problem solved. Just create new variant block and copy internal component of old variant block before suppressing them. Probably version compatibility (I am on 2014b)

mt nguyen

hello, can you help. I get following error when compiling:
The name of Inport block 'Ctl' of the variant block 'gyroboy_full2/Plant/EV3' must match one of the names of the corresponding Inport blocks of the Variant Subsystem block 'gyroboy_full2/Plant'.

Plesae, can you provide a model file compatible with the 2016a version (when you save your model, you can choose File-> Export Model to --> Previous Version.
Thx

Hi. can u provide the gyroboy_full.slx file for matlab2016a version... thanks!

Updates

2.0.0.1

- update link

2.0

- Create MATLAB project
- Updated controller with Stateflow
- Control app
- Android app model

1.0.2.0

Added models for old releases (R2014a, R2015a, R2016a)

1.0.1.0

Add cover picture

MATLAB Release Compatibility
Created with R2019a
Compatible with R2019a to any release
Platform Compatibility
Windows macOS Linux