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

Authors

  • Muhammed Mustafa Kelek Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University
  • Tolga Özer Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University
  • Uğur Fidan Department of Biomedical Engineering, Faculty of Engineering, Afyon Kocatepe University
  • Yüksel Oğuz Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University

DOI:

https://doi.org/10.7546/CRABS.2023.01.08

Keywords:

Segway, load cell, BLDC, microcontroller, simulation, real-time application

Abstract

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%.

Author Biographies

Muhammed Mustafa Kelek, Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University

Mailing Address:
Department of Electrical and Electronics Engineering,
Faculty of Technology,
Afyon Kocatepe University
03200 Afyonkarahisar, Turkey

E-mail: mmustafakelek@aku.edu.tr

Tolga Özer, Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University

Mailing Address:
Department of Electrical and Electronics Engineering,
Faculty of Technology,
Afyon Kocatepe University
03200 Afyonkarahisar, Turkey

E-mail: tolgaozer@aku.edu.tr

Uğur Fidan, Department of Biomedical Engineering, Faculty of Engineering, Afyon Kocatepe University

Mailing Address:
Department of Biomedical Engineering,
Faculty of Engineering,
Afyon Kocatepe University
03200, Afyonkarahisar, Turkey

E-mail: ufidan@aku.edu.tr

Yüksel Oğuz, Department of Electrical and Electronics Engineering, Faculty of Technology, Afyon Kocatepe University

Mailing Address:
Department of Electrical and Electronics Engineering,
Faculty of Technology,
Afyon Kocatepe University
03200 Afyonkarahisar, Turkey

E-mail: yukseloguz@aku.edu.tr

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Published

30-01-2023

How to Cite

[1]
M. . Kelek, T. Özer, U. Fidan, and Y. Oğuz, “Simulation and Real-time Application of the Load Cell-based Segway”, C. R. Acad. Bulg. Sci. , vol. 76, no. 1, pp. 75–83, Jan. 2023.

Issue

Vol. 76 No. 1 (2023)

Section

Engineering Sciences

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