DocumentCode
668203
Title
Tilt measurement based on an Accelerometer, a Gyro and a Kalman Filter to control a self-balancing vehicle
Author
Rincon Pasaye, J. Juan ; Bonales Valencia, J. Alberto ; Jimenez Perez, Felix
Author_Institution
Fac. de Ing. Electr., Univ. Michoacana de San Nicolas de Hidalgo, Morelia, Mexico
fYear
2013
fDate
13-15 Nov. 2013
Firstpage
1
Lastpage
5
Abstract
This paper describes tilt measurement by means of an Accelerometer-Gyro pair to control a two-wheeled, self-balancing vehicle. The use of accelerometers and gyros to measure tilt angle is well known to entail high levels of unwanted signals of high and low frequency, thus the filter techniques are essential for their improvement. The Kalman Filter decrease measurement noise through the sensors discrete state model. The tilt measurement is feedback to a PID with anti-wind up controller which maintains the balance of the vehicle.
Keywords
Kalman filters; accelerometers; angular measurement; gyroscopes; three-term control; vehicle dynamics; Kalman filter; PID; accelerometer-gyro pair; anti-wind up controller; discrete state model; filter techniques; measurement noise; tilt angle; tilt measurement; two-wheeled self-balancing vehicle; unwanted signals; Accelerometers; Equations; Kalman filters; Mathematical model; Noise; Pollution measurement; Vehicles; Accelerometer; Control; Gyro; Kalman Filter; Measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Power, Electronics and Computing (ROPEC), 2013 IEEE International Autumn Meeting on
Conference_Location
Mexico City
Type
conf
DOI
10.1109/ROPEC.2013.6702711
Filename
6702711
Link To Document