SegwaySystem

[Updated: 1 Feb 2022] More detailed explanation to come...

Welcome to the README of SegwaySystem, a built-in controller model of a pendulum system using bond graph theory.

The Challenge

Designing a controller using 20sim and Matlab capable of accomplish:

1. Model a pendulum's physics.
2. Control the motor's electrical signal based on the model for:

a. Make segway stand still. 
b. After disturbance ensure segway stand still. 
c. Drive the segway, turn around and brake.  

Controllers

• Following the controllers implemented in this model:

Pendulum model: models the physics behing free fall of a pendulum object.
Angle PID Controller:controlls the rotation of the wheels of the segway.
Velocity Wheel controller: limits how fast the wheel of the segway can accelerate.

Images

Demo

Segway.Challenge.mp4