A Two Wheel Self-Balancing Vehicle

This paper deals with the development of the equation of motion and practical implementation of low cost two-wheel self-balancing model of a Segway transporter. The experimental model of cart was designed and made under this study. Nonlinear equations of motion of real model and linearized model were derived. To develop the mathematical model, Matlab/Simulink was applied. The mechanical part was implemented into Simulink, and a DC motor was considered as a linear system. The real model was tested for its balance by implementation of a control algorithm consisting of a complementary filter and PID algorithm on an Arduino development board with peripheral devices. The fully functional self-balancing model was used as a demonstration in the teaching process of the Mechatronics courses.