This invention belongs to the field of electronic and
information control technology, specifically a
memristor-based multi-
sensor fusion hybrid analog-digital self-balancing
control system. It includes an analog computing module, a digital computing module, a balancing execution module, and a power supply module. The analog computing module integrates an
accelerometer and a
gyroscope, achieving data fusion through a
memristor-analog Kalman fusion filter circuit. It generates
analog control signals based on a
memristor-analog PD controller circuit, and simultaneously utilizes the memristor dynamic adjustment circuits in both circuits to achieve real-
time parameter optimization, applying positive or negative pulses according to
pulse polarity to adjust the resistance state. The digital computing module acquires signals and rotational speed data through an ADC, uses a cascaded PID
algorithm to generate
PWM signals, and drives a brushless motor in conjunction with a
momentum wheel to complete
millisecond-level dynamic balancing adjustment. The balancing execution module employs a high-precision bidirectional torque
momentum wheel, adaptable to complex motion scenarios such as robots and drones. This invention utilizes memristors for analog computing, combining non-volatility and low
power consumption characteristics, reducing
system load and improving response speed.