Electrical design and Coding for a Self-Balancing system using Scissored-Pair Control Moment Gyroscope.

1)The project consist of two modules acting as a Control Moment Gyroscope. 2)Each individual module consist of a high speed BLDC motor acting as Gyroscopes and a Gimbal BLDC motor, placed perpendicular to the axis of rotation high speed BLDC - in order to control the axis of rotation of high Speed BLDC. 3) The rotation of the high speed BLDC on both the modules are opposite to each other (clockwise and counterclockwise) and the rotation of both Gimbal motors are also in scissored-pair condition (i.e opposite direction) in the modules. 4) The main aim of the system is to balance an IMU sensor MPU6950 in a plane. 5)Also, The two module CMG system will work only if there are vibrations, otherwise system will be ideal/or high speed BLDC motor running at slow speed. This is done to save the in-house battery charge for long working time.