Introduction to the principle of "Segway" balance car

In the "Happy Camp", the goddess Liu Yifei was riding a balance car and elegantly drifting shadows. Did you leave a deep impression on everyone? If you can have such a step-by-step car, is it very powerful? But it seems that the high-end atmosphere of the balance car can actually DIY yourself. Together with this article, DIY belongs to your own balance car, in fact it is so simple!

The "Segway" balance car looks amazing, but have you found out that its principle is actually very simple? Thanks to the latest technology, key parts can be purchased directly on a certain treasure, and the control program can also be written by itself. It’s very simple to have your own balance car.

"Segway" balance car principle

The balance problem of "Segway" is actually a multi-level inverted pendulum problem. When a person holds the bottom of a bamboo pole by hand so that it does not fall vertically in the air, this is a model of a one-stage inverted pendulum system. If the first bamboo pole is hinged to other bamboo poles, or the bamboo pole itself has a certain elasticity (comparable to the large living people with bones and joints on the Segway), it becomes a multi-level inverted pendulum.

The principle of dynamic balance of Segway is the same as that of the inverted pendulum. The uppermost passenger is used as the swing arm, and then the wheel is controlled to maintain the center of gravity of the system to make the passenger stand upright. When the driver changes his or her body's angle forward or backward, the "Segway" will advance or retreat according to the direction of the tilt, and the speed is proportional to the degree of inclination of the driver's body to maintain balance. One of the clever design here is to balance the passenger sensing and control - "Segway" forward or backward to maintain balance, but also achieve the purpose of advancing or retreating according to the passenger's intention. In the end, a skilled driver can walk in the same direction as before, and he can free his hands and brain thinking.

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