Version 2.0
Segway RMP – User Guide
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RMP Configuration Parameters
General Guidelines for Payload Management
The software interface for the RMP provides the capability to switch between three balance
controllers. Each controller has been optimized for a particular payload at a particular height. For
best performance, the operator should endeavor to combine the ballast plate and the payload to
reproduce mass properties that are close to the configurations identified in the Controller Gain
Schedules section. (Ballast plates should be bolted underneath the top plate.)
In general, all 3 controllers will operate with a wide range of payloads. Choosing the controller
that best fits your payload has one main advantage – namely the handling and dynamics of the
control loop will be better damped and more predictable. The payload configuration is different
for the RMP 100 and 200; refer to the appropriate part of the Controller Gain Schedules section
for your RMP.
While each of the three controllers can balance a wide variation in payload, the degree of
oscillation and control activity will change as the payload is altered. For example, both the
“Heavy” (gain schedule 2) and “Light” (gain schedule 0) controllers can handle a 75 lb payload on
the top plate, but the response of each controller will be slightly different in the presence of
disturbances. For the RMP 200, the “Tall” (gain schedule 1) payload configuration will NOT
balance with the “Light” or “Heavy” controller.
There is no provision for altering the controller gains in a continuous manner.
The controller gains are assigned when Balance Mode is enabled. Thus, it is necessary to send
the gain schedule selection in Tractor Mode prior to entering Balance Mode. Changes to the gain
schedule selection made while operating in Balance Mode will not take effect unless the RMP is
switched to Tractor Mode and then back to Balance Mode.
Controller Gain Schedules
There are three controller gain schedules for each model. These controllers have been optimized
for particular payload configurations. The gain schedule used by the RMP may be changed by a
command from the host processor, refer to the “Segway Robotic Mobility Platform (RMP)
Interface Guide” for more detailed information on generating this command.
If you plan to use a weight distribution that is not specified,
test the controller stability with an expendable payload first.
