- an acceleration sensor
The acceleration sensor can measure acceleration due to the Earth’s gravity or the movement of objects produced. Only need to measure the acceleration values in one direction, inclination can be calculated out of the bus. For example, using an acceleration signal on the X axis, the electric self balancing scooter upright, fixed acceleration in the X-axis in the horizontal direction, the output signal is zero bias voltage signal. When the car is tilted, gravitational acceleration g will form a component of acceleration in the X-axis direction, causing changes in the axis of the output signal.
But in the actual vehicle running, because the balance car itself generated by the movement acceleration will have a lot of interference signal is superimposed on the measuring signal so that the output signal can not accurately reflect the true inclination. Thus the upright attitude information required for control can not be fully obtained by the acceleration sensor. .
2 angular velocity sensors – gyroscopes
Gyroscopes for measuring rotational angular velocity of the object. The Smart balance wheel scooter equipped gyroscope can measure the vehicle tilt angular velocity, the angular velocity signal processing can be obtained by integrating the vehicle inclination. However, due to the gyroscope itself has a certain noise, if you have been integral, it would cause inclination drift. So for upright posture control the information they need, not solely by the gyroscope to get points.
The above mentioned two sensors are given separately accurate, stable stance dynamic situations, but these two are complementary sensor, an acceleration sensor that is used in the static case the effect will be better, gyroscopes used in dynamic conditions , the effect will be better. In this case, we need an algorithm to effectively integrate these two signals, in order to obtain accurate attitude information. For more information, please visit www.koowheelmall.com