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CSE666 Project Presentation Simulation of Segway Scooter
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  1. CSE666 Project Presentation Simulation of Segway Scooter Presented By Chandrashekar Boopalam

  2. Introduction • Segway Scooter, “the world's first self-balancing human transporter”. The Segway manages to stay upright by itself. • To move forward or backward on the Scooter, the rider just leans slightly forward or backward. To turn left or right, the rider turns the right handlebar forward or backward. This balancing act is the most amazing thing about the Scooter, and it is the key to its operation. • The project aims at the study and simulation of Segway scooter. • The objective is to study and simulate Segway scooter in Matlab using Simulink and Real Time tools in MatLab.

  3. Dynamics of System • Payload • Tilt Sensor • Rate Sensor • Power Driver • DC Motor • Gear • Shaft • Battery • Wheels

  4. Real Time Tools Used • MatLab 6.0 Simulink Real Time Workshop Simulink Simulink is an interactive tool for modeling, simulating, and analyzing dynamic, multidomain systems. It lets you build a block diagram, simulate the system's behavior, evaluate its performance, and refine the design. Simulink integrates seamlessly with MATLAB, providing you with immediate access to an extensive range of analysis and design tools. These benefits make Simulink the tool of choice for control system design, DSP design, communications system design, and other simulation applications

  5. Real Time Workshop The principal components and features of Real-Time Workshop are • Simulink Code Generator -- Automatically generates C code from your Simulink model. • Make Process -- The Real-Time Workshop user-extensible make process lets you create your own production or rapid prototyping target.

  6. Real Time Workshop (Contd) • SimulinkExternal Mode -- External mode enables communication between Simulink and a model executing on a real-time test environment, or in another process on the same machine. External mode lets you perform real-time parameter tuning and data viewing using Simulink as a front end. • Targeting Support -- Using the targets bundled with Real-Time Workshop, you can build systems for a number of environments, including Tornado and DOS. The generic real-time and embedded real-time targets provide a framework for developing customized rapid prototyping or production target environments.  

  7. Architecture

  8. Motor Model

  9. Body Dynamics

  10. Wheel Dynamics

  11. Feedback Controller

  12. Big Picture

  13. Simulation Parameters

  14. Project TimeLine Estimated Time Actual Time

  15. Graphics

  16. Future Action • To build the model using MPC 555 Microcontroller MCS912DP256 (HC12) Microcontroller Sensors-Gyros,Tilt sensors,Accelerometers • Using real time workshop to implement for auto code generation

  17. Acknowledgments • Special Thanks to • Prof Ka C Cheok • Edzko Smid,Research Scientist

  18. Questions