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Its basic working principle is based on the control of inverted pendulum, that is, when
pendulum is tilted forward, we move the vehicle forward to catch up the pendulum for
balancing.
The angle of lean will be measured using: -
Integration of gyros output angular rate to give angular orientation about the pitch
axis (pitching angle)
Accelerometers acceleration (in dual axes) of its own inertial frame with respect to
gravity will be used to calculate actual angle and correct gyros drift
The microcontroller will do the following: -