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 1 year ago

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


Viewed
11410 times

More from equals zero

Tinycopter!

Tinycopter!

Added over 2 years ago | 00:01:59 | 3564 views

Robot Battles 2010: Nuclear Kitten 5.1

Robot Battles 2010: Nuclear Kitten 5.1

Added over 3 years ago | 00:04:13 | 12126 views

Robot Battles 2010: Überclocker Remix

Robot Battles 2010: Überclocker Remix

Added over 3 years ago | 00:04:12 | 11520 views

sharking around swapfest

sharking around swapfest

Added almost 3 years ago | 00:02:17 | 6055 views

Motorama Robot Conflict 2010: Überclocker vs. Knuckle Buster

Motorama Robot Conflict 2010: Überc...

Added 4 years ago | 00:03:25 | 14346 views

Motorama Robot Conflict 2010: Überclocker vs. Diabolical Machine

Motorama Robot Conflict 2010: Überc...

Added 4 years ago | 00:03:28 | 14869 views