Abstract for Segway

This project involves in designing a machine using electronic system to make an inverted pendulum remain upright. Inverted pendulum is our system which will be used in a machine and that machine is known as Segway. The pendulum will hang freely on an axle so that it can swing clockwise and counterclockwise. The axle in turn will be able to move along a straight line along the direction in which the pendulum swings. By dynamically driving a motor which moves the axle along a track according to the motion of the segway, the segway will be prevented from falling from the upright position.

The problem of controlling an inverted pendulum in this manner is classical to control systems, since the system is inherently unstable – the segway will not remain upright without external forces. This type of system is also very difficult to control manually, and therefore requires the use of electronic controls.

In this project, a control algorithm will be developed and implemented digitally, using a microprocessor and sensors, and a working demonstration will be built. Ultimately, this project will show the effectiveness of a digital control system to stabilize a machine quickly, and it will be used for transportation purposes.