Two-Legged Self-Balancing System




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Motor Controller

An H-bridge dc chopper circuit was chosen because it is the most appropriate for this application. It is simple, can be driven by TTL control signals, and provides the option of controlling the motor in reverse, forward, braking, or stopping. It allows for operation in all four quadrants of the output voltage output current plane. For this application the H-bridge is used such that for each motor direction the chopper is very similar to a basic class A chopper circuit because the forward and reverse regeneration quadrants are not used.

The direction of the motor can be changed by switching the polarity of the armature (by switching the corresponding MOSFETs). The average voltage across armature changes as the duty cycle changes.