Application and simulation of adaptive control algorithm with load cell for Segway

In this study, mathematical modeling, simulation and application of load cell-based Segway has been done. Four load cells placed on the segway control the system. Analogue signals of mass information from the load cell are converted to digital with 24-bit resolution HX711 integrated. The digitally converted data were measured by resolving with microcontroller over synchronous serial communication protocol. According to the measured mass information, the dynamic model of the system can be updated instantly. This process makes the Segway control easier by changing the maximum pitch angle and prevents the user from falling over the vehicle. The Brushless Direct Current Motor (BLDC) parameters required to simulate the system were extracted with the Maxwell Software Program. Using these parameters, simulation of Segway which is load cell-based was carried out. Real-time application of the system was done by working with the STM32103C8T6 microcontroller with ARM architecture. During real time application of the vehicle, BLDC currents and motor rotation speed information are simultaneously recorded on the SD card. The data obtained from the real-time application are processed and compared with the simulation. BLDC currents determined as a result of simulation were compared with the application results. Also, repetition test of the load cells was performed and correlation was found in the left front load cell 0.99, in the right front load cell 0.99, in the left back load cell 0.99 and in the right back load cell 0.99. According to the result of the study, it has been observed that the real time application of the system is compatible with its simulation. In addition, various suggestions have been made to make the system work more stable. We believe that in future studies, this study will be great contribution to other researchers.