SimulationofSegwayScooter-Home-OaklandUniversity模拟塞格威滑板车-家居-奥克兰大学

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1、,Click to edit Master title style,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,*,CSE666 Project Presentation Simulation of Segway Scooter,Presented By,Chandrashekar Boopalam,Introduction,Segway Scooter,“the worlds first self-balancing human transporter.The Segwa

2、y 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 oper

3、ation.,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.,Dynamics of System,Payload,Tilt Sensor,Rate Sensor,Power Driver,DC Motor,Gear,Shaft,Battery,Wheels,Real Time Tools Used

4、,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 systems behavior,evaluate its performance,and refine the design.Simulink integrates seamlessly with MATLAB

5、,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,Real Time Workshop,The principal components and features of Real

6、-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.,Real Time Workshop(Contd),Simulink,External Mode,-,External mode e

7、nables 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

8、 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.,Architecture,Motor Model,Body Dynamics,Wheel Dynamics,Feedbac

9、k Controller,Big Picture,Simulation Parameters,Project TimeLine,Estimated Time,Actual Time,Graphics,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,Acknowledgments,Special Thanks to,Prof Ka C Cheok,Edzko Smid,Research Scientist,Questions,