へぇー、すごいな。
メリットは?壊れにくいとか、修理しやすいとか、安くできるとか?
An analog complementary filter implemented with operational amplifiers combines the outputs of an accelerometer and rate gyroscope and passes it to a proportional-integral (PI) compensator.
The output of the PI compensator has a steering offset differentially added to it. The resulting analog voltage is the input to two custom 24 volt, 30 amp locked-antiphase H-bridge drivers (Class D amplifiers), which control the two 27:1 geared, 500 watt drive motors.
The vehicle frame is waterjet-cut aluminum and diamond-plate aluminum, and features a tiltable handlebar for steering input.
Lastly, the P, I, and K controller gains are accessible and tunable by the user through a set of knobs on the handlebars.
Segfault's page is here: http://www.etotheipiplusone.net/?page...
For more information on the design and evolution of the controller, see http://www.etotheipiplusone.net/?p=1081 specifically."