Massachusetts Institute of Technology
Sign in | Create Account

SEGFAULT, the analog balancing scooter

SEGFAULT is a balancing vehicle with a 100% hardware stability controller. Not a single line of code runs to keep the vehicle upright. An analog complementary filter implemented with operational amplifiers combines the outputs of an accelerometer and rate gyroscope and passes it to a proportional-integral (PI) compensator. The output of the PI compensator has a steering offset differentially added to it. The resulting analog voltage is the input to two custom 24 volt, 30 amp locked-antiphase H-bridge drivers (Class D amplifiers), which control the two 27:1 geared, 500 watt drive motors. The vehicle frame is waterjet-cut aluminum and diamond-plate aluminum, and features a tiltable handlebar for steering input. Lastly, the P, I, and K controller gains are accessible and tunable by the user through a set of knobs on the handlebars.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments. If you don’t have an account yet, sign up now!

equals zero

equals zero

Category: Research | Updated almost 2 years ago

Created
December 09, 2010 04:02
Category
Tags
License
Creative Commons Attribution-NonCommercial-ShareAlike (What is this?)
Additional Files


Viewed
11672 times

More from equals zero

LandBearShark Project: Preliminary Test

LandBearShark Project: Preliminary ...

Added over 3 years ago | 00:01:13 | 7212 views

world maker faire NYC 2010: RU-BOT

world maker faire NYC 2010: RU-BOT

Added almost 4 years ago | 00:00:47 | 9741 views

Tinycopter returns!

Tinycopter returns!

Added over 2 years ago | 00:01:02 | 3270 views

FanKartTwo: Thruster Test

FanKartTwo: Thruster Test

Added over 3 years ago | 00:00:15 | 4969 views

RazErBlades: Street Testing

RazErBlades: Street Testing

Added 4 years ago | 00:02:36 | 22841 views

Scooter Party @ MIT Friday Energy Showcase 2011

Scooter Party @ MIT Friday Energy S...

Added over 3 years ago | 00:03:24 | 7839 views