Simulation and Real-time Application of the Load Cell-based Segway

In this study, real-time application and simulation of the load cell-based Segway was carried out by using an STM32F103 microcontroller. The Brushless Direct Current Motor (BLDC) current and speed information was recorded on the SD card simultaneously during the real-time application of the vehicle. The BLDC parameters required for the simulation of the Segway were entered into the block diagram created in Matlab/Simulink interface. Then the load cell-based Segway was simulated. As a result of the simulation, the determined phase currents were compared with the real-time application results. In addition, the repetition test of the load cells was performed, and 99.9% correlation coefficients were obtained from the measurement of each load cell. As a result of this process, the measurement error rate of the load cells was determined as 0.01%. Finally, the currents of the BLDC motors were compared with the simulation study and the real-time application. The similarity of the currents with each other was obtained with an error rate of approximately 1.5–2%.