Desenvolvimento de um controlador inteligente em sistema embarcado para controle dinâmico de veículo elétrico de duas rodas

Abstract

The growing need for mobility in business environments, with reduced spaces and corridors, has led companies to the challenge of providing more agile mobility for some employees to promote less physical wear and tear and, consequently, increase in productivity. To meet these needs in the personal transport segment, the Segway was created. The Segway is a dynamic system, similar to the inverted pendulum system, basically formed by a platform supported by two wheels with a handlebar. This work aims to implement a control strategy based on Fuzzy Logic, to command a Segway-type prototype for the different requests of the user, maintaining the dynamic stability of the vehicle. The prototype was developed using Raspberry, Arduino and other electronic components to control two direct current motors using information from an MPU 6090 gyroscope. The Fuzzy controller developed in this work is of the PD Incremental type. Experiments were carried out, with and without user, with several maneuvers in order to evaluate the behavior of the control system in relation to balance and ensuring maneuverability. The results showed that the Fuzzy controller was able to satisfactorily transport a 90kg user while maintaining his balance during different maneuvers.