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Principle of Phase Angle Control Top - Output Voltage Bottom - Gate Drive Signal Image source: Wikipedia (http://en.wikipedia.org/wiki/File:Regulated_rectifier.gif) The photo above clearly illustrates phase angle control: output voltage controlled by the gate drive signal applied to a thyristor. What is phase angle control? That is what I'm going to talk about in this article. Phase angle control is a method of PWM applied to AC input voltages, usually the mains supply. Of course, the AC supply could be from a transformer or any other AC source, but the mains supply is the most common input – this gives the phase angle control method its greatest usefulness. It has of course become quite obvious from the title (and I’m sure most of you reading will already know this) that the purpose of phase angle control is to control or limit power to the load. The power device used in phase angle controllers is a thyristor – mostly triacs or SCRs. (There are methods of phase controlling employi...

Background knowledge          Basic understanding on how the Segway works is; when the IMU is tilting to a certain angle, the accelerometer give command to the stepper motor to tilt to the respective angle. The gyro sensor reacts by giving command to the motor to tilt the angle to the reference position.           The main and most complicated issues of self-balancing Scooter are the sensors. The sensors are very important as they give us the inclination of the bar regarding the base and the speed of its angle change. For this kind of scooter, we need an accelerometer and a gyroscope. The combination of these two devices provides us of very precise results because the error of one is cancelled by the other and vice-versa. In short, we could say that the gyroscope tells the short-time reading and the accelerometer the long-time reading. This is the latest circuit which has Stepper motor, Arduino Uno, motor driver L293N and IMU sensor in t...