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 over 2 years ago

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


Viewed
12678 times

More from equals zero

land-bear-sharking around someone elses college

land-bear-sharking around someone e...

Added over 3 years ago | 00:02:49 | 4957 views

LandBearShark Project: Track Pod Spinup

LandBearShark Project: Track Pod Sp...

Added over 4 years ago | 00:00:19 | 8650 views

The MITERS High Five Machine

The MITERS High Five Machine

Added 5 years ago | 00:00:21 | 10918 views

Fankart!

Fankart!

Added almost 5 years ago | 00:03:55 | 24736 views

Überclocker Ünicorn @ Robot Battles Dragon*Con 2012

Überclocker Ünicorn @ Robot Battles...

Added over 2 years ago | 00:13:44 | 3004 views

world maker faire NYC 2010: razErBlades demo

world maker faire NYC 2010: razErBl...

Added almost 5 years ago | 00:01:06 | 10044 views