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## Simple inverted pendulum model

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**Microcontroller**• MSP430F1611 • 16 bit RISC processor • 48kB Flash • 10kB RAM • 12 bit A/D with 8 pin-accessible inputs • Two 16 bit timers • 1.8-3.6v**Inertial Measurement Unit**• IDG-300Gyroscope • ADXL-330Accelerometer**IDG-300 Gyroscope**• Dual-Axis rate gyroscope • Operates by oscillating masses and capacitively measuring vibration caused by Coriolis effect. • Sensitivity: 2 mV/°/s • Max rate: 500 °/s • Operating voltage: 3.0-3.3v**ADXL-330 Accelerometer**• Triple-axis accelerometer • Micro-machined structure suspended over silicon by polysilicon springs. Plates mounted on moving structure and a fixed structure act as a variable capacitor in a filter circuit to measure acceleration. • Sensitivity: ~300mV/g • Max acceleration: ±3.0g • Operating voltage: 2.0-3.6v (sensitivity is ratiometric)**Estimating pendulum orientation**• Integrating rate gyros subject to drift. • Accelerometers only work when stationary. • Use both estimates to get better estimate of orientation.**Bluetooth Module**• Basically a breakout board for NXP's BGB203. • Class 1 so has a 100m range • 100 mW max transmitted power • 3.3 volts • 1 Mbps max UART**H-Bridge**• LMD-18200 • 3 amps continuous, 6 amps temporary**H-BridgeDirection Control**• Forward • Reverse • Brake • Short Circuit