<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

A Two Wheel Self-Balancing Vehicle

Slovak University Of Technology In Bratislava

Research Papers Faculty of Materials Science and Technology Slovak University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"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...

A Two Wheel Self-Balancing Vehicle

Publicado en línea: 07 dic 2021

Páginas: 78 - 93

Recibido: 26 ago 2021

Aceptado: 28 oct 2021

DOI: https://doi.org/10.2478/rput-2021-0027

Palabras clave
Segway model, equations of motion, self-balancing, PID control

© 2021 Rastislav Ďuriš et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

A Two Wheel Self-Balancing Vehicle

Publicado en línea: 07 dic 2021

Páginas: 78 - 93

Recibido: 26 ago 2021

Aceptado: 28 oct 2021

DOI: https://doi.org/10.2478/rput-2021-0027

Palabras claveSegway model, equations of motion, self-balancing, PID control

© 2021 Rastislav Ďuriš et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
Segway model, equations of motion, self-balancing, PID control