Segway minirobot сhinese version

[Candas1]

@Candas1

For higher speed, the inductance needs to be compensated:

• this is achieved with lag compensation in voltage mode if you know the correct phase resistance, phase inductance and KV
• or with FOC when current sense works, without any motor parameters

I already answered what else is important

[Valentine]

@Candas1

Mosfet RDSON is used as shunt

Seriously? That’s really risky, assuming a constant temperature and gate voltage. They probably correct internally for temperature and gate voltage. Is there a temperature sensor on the board? Also each mosfet is slightly different, not like the very accurate resistors, but I guess for a cheapo hoverboard doesn’t really matter that much.

Cheers,
Valentine

[Candas1]

No temperature sensing.
I even have used boards repaired with several different brand/models of mosfets lol

[Candas1]

But as the heat increases, the rdson will increase, the voltage drop will increase, and the measured current will increase?
So you have build-in temperature protection lol.

[Valentine]

@Candas1

you have build-in temperature protection

I will not comment on that approach…

TRYING 100 YEARS OF CONTORTION

[Ola_G]

Hi

Thank you for your work on this board .

I have very similar and try to use it for my robotic project. Did you move any further with controling 2 motors, and some odometry, pid s and so on ?

Maybe some git hub repository you can share ?

Ola

[freedomlives]

Hi,
I’m also wondering if there was any further success. I have several Segway hoverboards, same MCU, similar PCB layout (under the circled sticker is the MCU, photo was taken before it was removed). I don’t want to rush and re-invent the wheel if someone has already figured these out, but I can’t find hardly anything online.