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Energy Management of a Segway PT i2 Using Energetic Macroscopic Representation

In this paper, the energetic management of the Segway PT i2 is studied. The Segway PT is a human transporter that uses two electric machines, one on each wheel. Each electric machines uses redundant set of windings to guarantee the safety. A multi-set of windings system offers several operating modes. Different kinds of control can then be obtained in normal and fault mode. First simulation results are given to test the simulation software for different faults. New energy managements are discussed to extend the range of the Segway. Energetic Macroscopic Representation helps to define the inversion-based control scheme of this complex architecture.