FACULTY OF ENGINEERING AND BUILT ENVIRONMENT

DEPARTMENT OF MECHANICAL AND MATERIALS ENGINEERING

YEAR 4, SEMESTER 1 2016/2017

KKKP4214: Automation and Robotics
ASSIGNMENT 2

A SEGWAY PERSONAL TRANSPORTER (PT)

Name: NURUL ADAWIYAH BINTI M.JASSIN

Matric No. : A144154

Introduction

In recent years, the use of personal human transport vehicles have gained popularity.
The Segway PT is a popular personal vehicle that is available to the public. Segway PTs
dynamics invented by Dean Kamen are identical to the inverted pendulum and based on the
two-wheel platform design. The basics of a Segway are computers that process the control
algorithms, two tilt sensors, five gyroscopes, and two electric motors. Currently in market,
models of the Segway personal transporter can achieve top speeds of 12.5 mph. The Segway
is able to navigate thru rough terrain, while successfully carrying a human onto of the
platform. The Segway is typically found in urban settings; used for guided tours and city
government officials. The strengths of the Segway are that the personal transporter can be
used in outdoor recreation. It is an alternative for people that are unable to walk long
distances or ride a bike to enjoy the outdoors without the use of a vehicle. Since the Segway
runs on rechargeable batteries, it is environmental friendly. [1]

Segway Personnal Transporter (PT)

A two wheel self-balancing vehicle is popularly known as Segway Human
Transporter. The two wheel self-balancing vehicle system is shown in Figure 1.1(a), itself
represents a linear inverted pendulum system, pivoted on the wheel axis.

Figure 1.1: From Left to Right (a)Two wheel self-balancing systems (b) Segway Human
Transporter

The Segway personal transporter, shown in Figure 1.1(b), is a device that transports
one person at relatively low speeds. The low-speed (12 mph) operation combined with its
electric propulsion system makes the Segway a candidate for providing short-distance
transportation on city streets, sidewalks, and inside buildings.

When the operator leans forward, the wheels turn in unison in the same direction to
provide forward motion. In order to stop, the wheels must accelerate forward to get out in
front of the systems center of mass and then apply a deceleration torque to slow the system
down without causing the operator to fall forward. These operating principles are reversed to
allow the system to move backward. In order to turn, the wheels rotate at unequal speeds
causing the system to travel in an arc. If the system is not translating forward or backward,
then the wheels can rotate in opposite directions to turn the machine in place.

Computer

Amplifier

Desired

Gyroscope

Figure 1.2: Block Diagram for PT systems

Computers and electric motors are located at the base of the vehicle to keep the
Segway in upright position when the driver is on board and the control system is activated; in
order to move the Segway forward or backwards, the driver must lean slightly forward or
backward, respectively, and to turn using the handlebar it is just needed to lean it left or right.
The Segway has an electric motor that allows to reach a speed of 20.1 km/h and can take a
tour of 38 km on a single battery charge. It also has gyros, which are used to detect the
inclination of the vehicle and thus indicates how much it deviates from the perfect balance
point. Motors driving the wheels are controlled to bring the Segway back into balance [2].
The Segway has electric motors powered by lithium ion batteries based on phosphate, which
can be recharged from any electrical outlet.

The vehicle is 18 balanced with the help of dual computers running an appropriate
program, two tilt sensors and five gyroscopes. The servo motors drive the wheels to rotate
them forward or backward as necessary to maintain balance or propulsion [3]. The Segway
also has a mechanism to limit the speed called governor. When the vehicle reaches the
maximum speed allowed by the program, the device starts to intentionally lean back. This
allows the platform to move forward, and that the handlebar is tilted back toward the pilot, in
order to reduce speed. If not for the governor, passengers could lean a lot more than the
engine could compensate for. The Segway also reduces the speed or stops immediately if the
handlebar of the device collides with any obstacle [2].

References
[1] G. Welch and G. Bishop, Kalman Filter. An Introduction to the Kalman Filter,
2007. Retrieved February 16, 2009 from the World Wide Web:
http://www.cs.unc.edu/~welch/kalman/kalmanIntro.html

[2] Segway Inc. (2011). How the Segway PT Works. New Hampshire, USA. Available
online: http://www.segway.com/individual/learn-how-works.php. Accessed on February 2nd,
2011.

[3] Jean-Vincent Defrance et al (2010). Planning Simulation-Based Design Study Project:

SEGWAY. Georgia Institute of Technology, USA. Available online:
http://www.srl.gatech.edu/education/ME6105/Projects/Fa10/Segway/. Accessed on January
30th, 2011.