Distinctive Merit

Self-Balancing Scooter
The low-cost Self-Balancing Scooter is designed around the H8/3664F microcontroller. Following electric and gas-powered scooters, electric wheelchairs, and the Segway, this unicycle scooter breaks new ground in the field of powered personal transportation by implementing digital control. The controller is a minimum-order state observer/regulator used to stabilize the unstable, inverted, pendulum-like system. Kalman filtering is used to fuse the sensor readings in a best estimate of the state measurement. The inexpensive microcontroller provides a low-speed and a high-speed control loop interrupt (72 Hz and 2 kHz, respectively), PWM motor output, serial port debugging, and A/D conversions of an accelerometer, a ceramic gyroscope, and a current sensor. At one-seventh the weight and one-eighth the price of the Segway, the Self-Balancing Scooter proves that digital control has the potential to revolutionize personal transportation.

Lee Magnusson
U.S.
leem@alum.rpi.edu

Abstract

Entry for use with HEW Tiny

Entry for use with 5.0.2 tool chain

Entry for use with 6.0.0 tool chain