SEGWAY

Project Advisor 

Asst.Prof. Dr.Benjamas Panomruttanarug

Candidate:

Mr.Jakkrit Thitwilat

Mr.Thitinan Buawkaw

Abstract:

SEGWAY is big robot that consists of 2 wheels to balance, and it uses principle of invert pendulum. In this project, we study and build a prototype of SEGWAY. SEGWAY has 2 parts: hardware and software. For the hardware, mechanical structure is designed by SolidWork program, and all circuits are designed by Altium Designer 6.9 program. Two types of sensors are used to measure a slant angle of the robot: accelerometer and gyroscope. The output of gyroscope and accelerometer are an angular velocity and gravity, respectively. BLDC motor is a brushless motor. It has two controllers, which controls phase sequence of the motors. In the software part, we can code for receiving data from both sensors, and the Kalman filter is used to combine signal from the sensors. We use a pole placement control for balancing.

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