Tilt PID Processing

+9V Motor Driver

Motor Speed +9V

+5V
Integrator

470
R9
MuRata ENC-05 Rate Gyro C1 2.5V IC1B 8
5 VS 220uH

3
Gyro rate output is 0.67 mv/deg/sec IC4C
0.47uF 7 9
1
+5V 6 14 EN1,2 L1
GYRO pins 2 3 Motor 1
R20 LMC660 LMC660 8 IN1 OUT1
2 7 6
Vcc 1 LM339N IN2 OUT2
1 TILT - Proportional

12
8.2K Comparator
Rate Out 4 3 R12 9
EN3,4 220uH
IC1A 7 IC4B 10
IN3 OUT3
11
Gnd 3 R11 33K 15 14
1 IN4 OUT4 L2 Motor 2

10K
8.2K +5V

R1

PID summing node

Vref 2 6

470
R8
15K
LM339N
R10 IC3A

+5V
IC3P

+5V

16
15K L293D

R5
10K
R14 Locked Antiphase PWM

VCC
L293D Power Pins
Gyro Zero

GND1

GND2

GND3

GND4
Gyro drift compensation

AMP Gain = 8 5.6K

R22
68K

12

13
10 IC1C TILT - Derivative 15K R18 +5V
8
9 R17
LMC660 R7 10 IC2C

10K

4
470K 15K 24 KHZ Triangle wave

R3
8 3 IC2A
15K
9 1
R23 R16
LMC660 2
R6 2.5V LMC660

11
10K Triangle Wave Generator
SPARES
GND

+5V

15K Accelerometer Zero

.001uF C4

+5V R2 IC2D
12
+5V 14 +9V
Power 13 9 volt source 11 IC4D
+5V
LMC660 5V Source 13
8.2K LMC660 IC5 10
Vmid
4
Accelerometer Pins

12 IC1D 9.6 volt nicad battery pack 7805 LM339N

R4 14
220K 1 3
input
ADXL105

Aout 68K 13 VI VO
R13 GND 5 IC4A
250mv / G R25 C6 C5 2
11

2
Amp gain = 8 4
Gnd 2.5V 10uF 10uF LM339N
470K +5V
5 IC2B
GND 680
R26 GND 7
C3 6
680
R29

R30
LMC660
10uF
Basic Analog Balancing Robot Control
GND by Dale Heatherington August 2008

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