Title: Load cell-based PID method controlled Segway system modelling and simulation

Authors: Muhammed Mustafa Kelek; Ugur Fidan; Yuksel Oguz; Ibrahim Celik; Tolga Ozer

Addresses: Department of Electrical and Electronic Engineering, Afyon Kocatepe University, Afyonkarahisar 03000, Turkey ' Department of Biomedical Engineering, Afyon Kocatepe University, Afyonkarahisar 03000, Turkey ' Department of Electrical and Electronic Engineering, Afyon Kocatepe University, Afyonkarahisar 03000, Turkey ' Department of Mechatronic Engineering, Afyon Kocatepe University, Afyonkarahisar 03000, Turkey ' Department of Electrical and Electronic Engineering, Afyon Kocatepe University, Afyonkarahisar 03000, Turkey

Abstract: In the present study, mathematical modelling and simulation of load cell-based Segway has been done. Four load cells placed on the Segway to provide the control of the system. According to the measured weight information, the dynamic model of the system can be updated instantly. This operation makes the Segway control easier by changing the maximum pitch angle. In order for the system to stay in balance on two wheels, it must move at the appropriate pitching angle and at the desired speed. The control of the suitable pitching angle and speed are controlled by the PID method. As a result of the simulation in Matlab/Simulink environment, Segway's speed information, current information of BLDC and pitching angle can be accessed. As a result of the study, it is thought that the load cell-based Segway can be controlled more effectively.

Keywords: Segway; mathematical modelling; load cell; proportional, integral and derivative; PID; electric vehicle.

DOI: 10.1504/IJESMS.2021.10037376

International Journal of Engineering Systems Modelling and Simulation, 2021 Vol.12 No.4, pp.230 - 238

Received: 11 Aug 2020
Accepted: 17 Feb 2021

Published online: 22 Dec 2021 *

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