Home
This project is a completely-working opensource hoverboard. It is built-up upon other open-source projects and its scope is to permit to students, researchers or even hobbysts to use,test or improve it. This project infact is fully open in hardware, software and physic theory, performed with rigorous approach.
Studying an inverted-pendulum is challenging, simulating correctly an hoverboard is hard, but making it work in practice is dramatically hard! This project aims to simplify many parts of this complexity, because it offers:
- rigorous theorical model
- working matlab simulation, full of non-idealities and stabylizing control
- working hardware, with which you can see the it work, or test your own control strategy
ATTENTION: this is NOT an "instructable-like" project: I won't describe any single part like "what is a C compiler?" or "what is Matlab?". In this sense, this project is not exactly "for anyone", but it is intended only for people that knows some basics of programming and are familiar with Matlab and electronics.
openHover is a ready-to-use opensource platform madeup by a minimal set of components, summarized in the following image.
The device's control is fully configurable via Matlab (where you can also simulate its behavior, see following section).
As easy to understand by the image, with openHover you can:
- setup your parameters and simulate the hoverboard behavior with Matlab
- send the parameters for the filters and the control algorithm to the physical device, via bluetooth
- execute an experiment with the same references of the simulation and collect experiment's data
- or simply... ride your hoverboard
At the moment there is not a specific page for this (I will build it ASAP), but all the theory and other infos about this project are available in my thesis.
In the folder "MatlabModels", take a look to the file param_personal_transporter.m: this file summarizes all the operations that are performed during model buildup,parameter's calculation, simulation startup, data transfer to the device and runtime data collection. Just comment or uncomment one of these steps in order to skip or perform one or more of the operations.