• 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