Simulation of a Self-Balancing Platform on the Mobile Car

  • Bushra Amer Tawfeeq Department of Mechatronics engineering/ Al-Khwarizmi Engineering College/ University of Baghdad
  • Maher Yahya Salloom Department of Mechatronics engineering/ Al-Khwarizmi Engineering College/ University of Baghdad
  • Ahmed Alkamachi Department of Mechatronics engineering/ Al-Khwarizmi Engineering College/ University of Baghdad



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.



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How to Cite
Tawfeeq, B., Salloom, M., & Alkamachi, A. (2021). Simulation of a Self-Balancing Platform on the Mobile Car. Al-Khwarizmi Engineering Journal, 17(3), 29-44.