How do Airwheel self-balancing electric scooters achieve balance?


Abstract: Airwheel is the state-of-the-art means of transportation adopting aerospace attitude control theory, fuzzy software algorithm and gyroscope system to maintain balance by leaning forward and backward.

However, these technique terms are beyond the understanding of general mass. How does the Airwheel achieve balance?

In order to answer this question, gyroscope system in Airwheel electric hoverboard must be analysed. Gyroscope is an apparatus composed of a wheel, which spins inside of a frame (gimbal) and causes the balancing of the frame in any direction or position.

Airwheel S5

The faster the wheel turns, the less likely it is to have a force to maintain balance for hoverboards. The gyroscope should give it a force at work, so that it can quickly rotate, and can reach hundreds of thousands turns per minute in general, which can work a long time. Then, the direction of the shaft is read by a variety of methods, and the data signal is transmitted to the control system.

Airwheel S5

Acceleration and angular velocity of the two sensors are unable to obtain the accurate and stable posture, but these two sensors are complementary, namely, the acceleration sensor, will be better under static conditions. Gyro will be better under dynamic conditions. At this point, we need an algorithm to effectively combine these two signals to obtain accurate attitude information. So self-balancing electric scooter is achieved by the controller (intelligent chip), attitude sensor (gyroscope), and actuator (motor) three parts to achieve balance.

Airwheel A3

When the driver tilts the body, the attitude sensor produces corresponding attitude information. And after the controller is aware of this information, it will give order to the motor to rotate in the direction correspondingly. Attitude sensor measures the attitude of the vehicle in certain frequency, and output attitude to the controller. The controller adjusts the rotation direction and speed of the motor ceaselessly, to maintain a dynamic balance. This is how the Airwheel electric air board realizes balance.