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.

Segfault's page is here: http://www.etotheipiplusone.net/?page_id=566

For more information on the design and evolution of the controller, see http://www.etotheipiplusone.net/?p=1081 specifically.

Category:

Science & Technology

Tags:

• segway
• diy segway
• analog
• complementary filter
• balancing
• inverted pendulum
• switching amplifier

[ghidfg]

@kidhonda89 LOL when "she" turned around

[rubendext]

hey @kidhonda89 i prefer the hot chick that's coming in 2:44 haha! i think im in love...

[TiagoTiagoT]

What about redundancy to reduce the risk of pulling a Bush?

[anfegori91]

Segway jousting???? neeeeeeeeeeerrrrrrrrrrrrrrdsss­s!

[kidhonda89]

Man the chick at 2:30 is a hot little nerd! IWHT!!

[osgeek]

I hope the aluminum chassis has room for a couple of rocket boosters.

[romanmir01]

crazy idea: add a couple more wheels, some sort of a seat maybe, a windshield (with wipers) and a roll-cage, put in a bigger engine, better steering and some breaks. A radio would be nice, some sort of an audio-system, side mirrors and don't forget cupholders and blinkers.

I bet that would sell better.

[weemalky]

Op-amp-tastic!

[actsrv9]

@actsrv9

You could make the third (small, rear,) wheel slightly springy using another material or using a spring placed correctly. That should make safety concerns much lesser, and the product more marketable.

[actsrv9]

this is awesome. However, in my (ignorant?) opinion, it wont hurt anything to add a small plain simple wheel at the back so that a backward tilt does not result in a fall. In Dean Kamen's TED talk, he spoke of how an elderly lady was delighted to see this thing.

so, *please*, *please*, put a small wheel at the back so people will happily buy without doubts. It can be an accessory included by default in the product and can be omitted for a small discount, on demand.