GYROSCOPE SENSOR

MUHAMMAD IZZAT ALIF BIN MUSLAN (2016692576)

MUHAMMAD SHAFIQ AZIM BIN SHAHIDON (2016692544)
MUHAMMAD SYAFIQ BIN BASRI (2016692572)

INTRODUCTION
The gyroscope is a sensor used to measure angles or rotations. Depending on the gyroscope used, this device can detect rotations at the x-axis (yaw), y-axis (roll), and z-axis (pitch).
The MPU6050 is a motion tracking device that has 3-axis gyroscope, 3-axis accelerometer, and a Digital Motion Processor all in a single chip. This chip is widely available and can be
purchased in the form of an Arduino module for electronics enthusiasts to adopt. The data can be accessed through I2C and it has a 16-bit analog-to-digital converter (ADC) to handle
the output of the gyroscope. The Digital Motion Processor can also be used to translate raw data into output in degrees. This project looks to study only one part of the functions of this
device which is a gyroscope with 6 degrees of freedom (DOF) meaning it could detect pitch, roll, and yaw from 180 to -180. This project aims to study the sensitivity of the gyroscope
sensor by testing its hysteresis property.

ABSTRACT CIRCUIT FLOW CHART

The gyroscope is a device that outputs current angles. A
commonly use gyroscope, the MPU6050, outputs angles in START
the form of voltage levels however, the MPU6050 module
has a Digital Motion Processor to process the raw voltage
signal into angles in degrees. This project aims to analyze
Process angle
the output of the MPU6050 to see its behavior when it is
rotated from its minimum value to the maximum value and Combination of gyroscope circuit and stepper
motor circuit using Bluetooth module. No
then back to minimum or hysteresis. Hysteresis is a normal
occurrence in every electronic circuit where residual Display
yaw and
charge would cause a lag during measurement at a time
decline. This project finds that the lag exists and causes a
visible hysteresis.

Rotation
OBJECTIVE is 360?
1. To construct a circuit and observe the behavior of the Gyroscope sensor Stepper Motor circuit.
gyroscope sensor to obtain it’s hysteresis. circuit. Yes
2. To plot a graph and analyze the result obtained.
Change

SENSOR OPERATION direction

Gyroscope or gyro, is a device that measures or maintains a

rotational motion and angular velocity which the
Flowchart of the main process.
measurement of speed of rotation. Gyroscope is based on
the principle of microelectromechanical system (MEMS). It Schematic diagram of the circuit.

works more less the same with an accelerometer but it gives

more accurate information for example to know how DISCUSSION
exactly an object is oriented. Gyros measure angular
In this project, it can be seen that there exists a lag when a
velocity in units of rotations per minute (RPM) or in degrees
measurement was taken from minimum to maximum is compared
per second (°/s). The three axes of rotation are mostly
with a measurement from maximum to minimum. The common
referenced as roll (x), pitch (y), and yaw (z).
reasoning for this is that when measurement is taken at a decline,
there exists residual charge inside the system causing the voltage
RESULT signal output to dissipate slowly thus causing the lag. This is usually
associated with noise since the gyroscope itself is analog in nature
Yaw Value Chart Title
200
-60 -40 -20
0
0 20 40 60 80
and to acquire the reading, conversion to digital is required. To avoid
-20

150
-40 the device to sense change in value back and forth too rapidly, a
-60

100
-80 hysteresis is intentionally put there to ensure the output does not
-100

50
-120 oscillate which could potentially ruin the device.
-140
-160
0
0 200 400 600 800 1000 1200 -180
-200
-50

-100

-150

-200

Yaw Value

Figure above shows the results of the project. As we can see from the figure, at point 210 until point 343,
that is the values for one complete cycle. To prevent this lag, one should not do immediate direction switching
while measuring. Otherwise, the gyroscope will lose its calibration
and offset until it is put at rest or motionless.

CONCLUSION
The MPU6050 gyroscope is an accurate sensor to measure angles of an
object. However, when direction of measurement is changed rapidly
without resting, it will cause a lag in reading due to intentional hysteresis
put in place to prevent output from oscillating. To avoid this effect, one
should not switch direction of measurement rapidly.