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SELF BALANCING BICYCLE

GUIDED BY: PRESENTED BY:


Mr. PRIYESH K AKSHAY VENUGOPAL
MECHANICAL DEPARTMENT IEANEME007
CUIET S8 ME,CUIET
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CONTENTS
Introduction

Literature Survey
Gyroscope

Control Overview
Working

Advantages and Future scope


Conclusion

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INTRODUCTION
Bicycles where introduced in 19thC in Europe.
Bicycles have evolved significantly.
1st bicycle where completely different and where not as comfortable as
now.
They are principle of transportation in many regions.
From the beginning and still today they are used for many purposes.
Balancing is always a challenging task for human and robots
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Balancing bicycle is analogous to inverted pendulum problem.
It is a pendulum which has center of mass above its pivot.
The bicycle is a rigid body which can rotate around its contact point with
the ground.
It has multiple degrees of freedom, but we aims to stabilize tilt angle.

Fig 1: Inverted pendulum 4


There are passive and active balance system

Passive balance system


Which simply dampens or mechanically limits the motion of the system.
Training wheels
Gyrowheel
Fig 2: Gyrowheel attached to a
Active balance system standard bicycle.

Which sense the tilt angle of the system and provides a corrective force to
stabilize the system
Actuated arm balance system
Gyroscopic balance system 5
LITARATURE SURVEY
There are several different methods for balancing of robot bicycles.
gyroscopic stabilization by Beznos in 1998.
gyroscope based system, inspired by Gyro Monorail
prototypes developed in the 1900s and 1960s.
mass balancing by Lee and Ham in 2002.
steering control by Tanaka and Murakami in 2004.
Fig 3: Murata Boy
A self-balancing robot bicycle, Murata Boy,
was developed by Murata in 2005. 6
GYROSCOPE
What is gyroscope?
Spinning body which is free to move under action of ext. forces
Used for measuring or maintaining orientation
Based on the principles of conservation of angular momentum.

Fig 4: gyroscope Fig 5: balancing gyroscope 7


Gyroscopic effect
Effect of gyroscopic couple
Ox axis of spin
Oz axis of precession
Oy axis of gyroscopic couple
yz plane of spin Fig 6: gyroscopic effect

xy plane of precession
yz plane of gyroscopic couple

Fig 7: direction of couple 8


WORKING PRINCIPLE
For balancing bicycle we use single axis (control momentum
gyroscope)CMG.
It consists of a spinning rotor and a motorized gimbals that tilt the
rotors angular momentum.
Change in direction of the rotors angular momentum generates a
precessional torque that reacts onto the frame of the bicycle.
Precessional torque generate is used to balance the bicycle.
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Fig 8: flywheel and motors Fig 9 : working principle

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Moment causing the bicycle to tilt due to gravity is,

The equation of motion for the bicycle about the roll axis is
Fig 10: front view

It is possible to control the tilt angle of the bicycle by


controlling the deflection angle of the flywheel around its
gimbal pivot.
Fig 11 : top view
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CONTROL OVERVIEW
Sensor : Accelerometer, it measures the bicycles
tilt angle directly with
respect to gravity.

Fig 12 : accelerometer
Microcontroller : ATMega16 ,it perform ADC
conversion of output of Accelerometer and
Control of actuator unit

Fig 14: control overview


Fig 13 : microcontroller 12
Actuator : it consist of motor and motor driver.
From microcontroller we cannot connect a motor directly , because it
cannot give sufficient current to drive motor
Motor driver IC L293D can drive 2 motors simultaneously
The torque generated by the motor is a function of the average value of
current supplied to it.

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WORKING
Microcontroller reads the output of the accelerometer via analog-to-
digital converter
It interprets the bicycles tilt angle and implemented into a PID
algorithm, and outputs a corresponding voltage to the motor controller.
A torque is exerted on the flywheel
Reaction torque is exerted on the bicycle and balances it.

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ADVANTAGES
Can be used as a teaching tool
Disabled person can ride this bicycle who would otherwise not be able to
do so.
It can prevent accidents by preventing pitching and rolling during
collision.
It is easy to handle
Bicycle can also be balanced at stationary position
It can be driven remotely without a rider
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FUTURE SCOPE
This concept can implemented on a large scale to develop a Motor-bike
concept vehicle
Honda has already launched self balancing motor bike
In motor bike auto pilot system can be implemented.
Self Fig 15 : motor bike concept vehicle
balancing portable mono wheeled
vehicle can also be made using this
concept.

Fig 17 : self balancing Fig 16 : Honda's self balancing bike


mono wheel 16
CONCLUSION
This paper is highly concentrated on the bicycle using reaction wheel
The CMG was used as a momentum exchange actuator to balance the
bicycle.
The CMG is an effective torque amplification device and has a short
response time.
The system serves as a prototype for a marketable product that is
envisioned to be easily attached to any standard bicycle of a given size.

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REFERENCE

[1] Mukeshkumar Prasad and Nilesh W. Nirwan Design and Fabrication of


Automatic Balancing Bicycle, IJSETR, Volume 5, Issue 2, February 2016
[2] S S Rattan, Theory of machine ,fourth edition , McGraw Hill Education
(India) private Ltd. New Delhi
[3]K. Astrom, Bicycle dynamics and control: Adapted bicycles for education
and research, IEEE Control Systems Magazine, August 2005, pp. 26-47.

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THANK YOU.....!

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