This is my first post at RobotShop community, I’m looking for information on how the wheel-diameter and location of the gyro/accelerometer affect the behaviour of a self-balancing vehicle.
I’m building a more ‘off road capable’ Segway/Ninebot type of personal transport. Not strictly a robot but it’ll be carrying a person, so it has to be safe and robust.
My mk1 prototype, took Ninebot Mini parts and re-used them un-modified in a slightly different chassis, it worked well. Mk2 prototype features short-travel suspension and much larger diameter wheels, - it has some problems.
It takes more forward/backward lean to move the vehicle, not so bad when going forward, but you feel like you’re going to fall backward before it reacts to the lean-back rider input. I need to find out precisely what’s causing this problem, it may just be the wheel diameter, now 16" (400mm) , up from 10" (310mm). I attached larger rims to the Ninebot hubs (same motors).
The mainboard is now positioned 25mm below the centre of the axles - it was originally dead-centre of the Ninebot’s axle-line.
I tested it with the suspension locked in place, to keep that variable factor out of the game.
I’ve noticed most of the self-balancing robots on this forum have the mainboard (and its gyro) mounted several inches above the motors ’ axle axis. Does the distance above or below the axle influence the self-balancing math?
Thanks for reading.
) and I am not sure if I can help a lot, but have a look at this topic found on Arduino forum: