Information

This model is of a LEGO Segway with disturbances, but without any kind of controller to keep it upright. For the model with a controller, open LEGOSegway.LQControl.

Simulation

To simulate the LEGO Segway and view a 3D animation of it, follow the steps below:

Click the Simulate buttom: simCenter

Click the Animate button: animate

In order to get the full experience of this example, you need a desktop Wolfram Language product. A free trial download is available at www.wolfram.com/mathematica/trial/

For the full example, open the accompanying notebook LEGOSegway.nb.

uMax	Value: 8.5 Type: Voltage (V)
fMax	Value: 0.31 Type: Force (N)

uMax

Value: 8.5

Type: Voltage (V)

fMax

Value: 0.31

Type: Force (N)

	angle	Type: RealOutput Description: 'output Real' as connector

Components (8)

	segway	Type: LEGOSegwayModel Description: Contains a model of a LEGO Segway with some extra inputs and outputs
	force	Type: WorldForce Description: External force acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve
	pulsex	Type: Pulse Description: Generate pulse signal of type Real
	pulsey	Type: Pulse Description: Generate pulse signal of type Real
	pulsez	Type: Pulse Description: Generate pulse signal of type Real
	world	Type: World Description: World coordinate system + gravity field + default animation definition
	leftMotorVoltage	Type: TimeTable Description: Generate a (possibly discontinuous) signal by linear interpolation in a table
	rightMotorVoltage	Type: TimeTable Description: Generate a (possibly discontinuous) signal by linear interpolation in a table

NoControl

Diagram

Wolfram Language

Information

Simulation

Parameters (2)

Connectors (1)

Components (8)