Circuit Lake

Electronic Project and Circuit Collection

Balancing Two-Wheel Scooter

06/05/2010 Category: AVR, Control, Motor, Project, Robotic

This low-cost ATmega32-based balancing scooter can carry 90 kg at a speed of 15 km per hour over a distance of 10 km. The project uses “dynamic stabilization” for control. The project is equipped with a Gyro (Sensor for the angle rate), an acceleration Sensor ADXL311, a microprocessor AtMega32 and high power electric motors together to stabilize the balance. Forward and regression is reached by leaning forward and leaning back. A rocker that is placed at the upper end of the stick generates the Signal for the left right control.


“After switching on the unit, the electronics is in stand by mode. Through shift the handle into the verticality position, driving mode will be activated. The engines are powered and the equipment is balanced. Now you can ascend and drive off. ” said Reinhold Pieper, the project designer, explains scooter works.

All signal processing and control is done by an MCU AVR AtMega32. The MCU use his internal oscillator and his Brown-Out-Detection for the sure operation. It will generates two PWM, and two rotation direction signals for both electric motors. A piezo sound generator is used to give warnings and weak batteries can be signaled.