Gyro (yee-roh)Gyro (yee-roh)

Designed by Joshua LewisDesigned by Joshua Lewis

IntroductionIntroduction

Inverted PendulumInverted Pendulum

ATMega MicroProcessorATMega MicroProcessor

Inertial Measurement UnitInertial Measurement Unit

PID Control AlgorithmPID Control Algorithm

The Inverted PendulumThe Inverted Pendulum

Axis of RotationAxis of Rotation

Center of MassCenter of Mass

AttitudeAttitude

Integrated SystemIntegrated System

Atmel ATMega128Atmel ATMega128 Inertial Measurement UnitInertial Measurement Unit Wheel EncodersWheel Encoders BlueSMiRF (Embedded Bluetooth Serial BlueSMiRF (Embedded Bluetooth Serial

RF Link)RF Link) Texas Instruments Motor DriverTexas Instruments Motor Driver Liquid Crystal DisplayLiquid Crystal Display

Inertial Measurment UnitInertial Measurment Unit

Analog Devices ADXL330 AccelerometerAnalog Devices ADXL330 Accelerometer InvenSense IDG-300 GyroscopeInvenSense IDG-300 Gyroscope

Control AlgorithmControl Algorithm

Hand Tuned Feedback LoopHand Tuned Feedback Loop

Control AlgorithmControl Algorithm

One Dimensional Kalman FilterOne Dimensional Kalman Filter

Input Biased Angular Rate Gyro and Input Biased Angular Rate Gyro and Zeroed AccelerometerZeroed Accelerometer

Two State Output (Angle & Gyro Bias)Two State Output (Angle & Gyro Bias)

Angular Rate Byproduct of ComputationAngular Rate Byproduct of Computation

PID Control AlgorithmPID Control Algorithm

Torque = Kp*Angle + Kd*AngleRate + Torque = Kp*Angle + Kd*AngleRate + Kv*WheelSpeedKv*WheelSpeed

Gain Coefficients Are Tweaked By User Gain Coefficients Are Tweaked By User During Run-Time Via Bluetooth Serial During Run-Time Via Bluetooth Serial Wireless LinkWireless Link

THE END!THE END!