Abstract
To stabilize a single-wheel vehicle is necessary to know the angle of gradient of the platform with respect to the horizontal axis and also the movement of the vehicle. This can be detected in several ways. Accelerometers and gyroscopes are small, accurate and energy-saving today. They provide analogue or digital output. In the introduction we will describe the basic parameters of accelerometer and gyroscope. We will describe the principle of digital signal processing from both sensors. In the next section we look at the effect of dynamic acceleration on the sensors and the elimination of this phenomenon with a complementary filter. We explain, what it is a complementary filter, benefits and internal structure. We will include a short code in the C language for data processing from the output.
Highlights
We can find stabilization systems in many electrical devices where they are used to control the vehicle’s direction or to stabilize the platform
It is necessary to convert the signal into digital form to get the data from the accelerometer and gyroscope via the I2C bus
The MPU6050 sensor with an integrated accelerometer and gyroscope was used for the tilt sensing
Summary
We can find stabilization systems in many electrical devices where they are used to control the vehicle’s direction or to stabilize the platform. It is necessary to know the physical model of the platform and to determine the correct system parameter
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