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Literature Survey
Gyroscope
Control Overview
Working
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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.
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.
xy plane of precession
yz plane of gyroscopic couple
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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
Fig 12 : accelerometer
Microcontroller : ATMega16 ,it perform ADC
conversion of output of Accelerometer and
Control of actuator unit
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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.
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REFERENCE
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THANK YOU.....!
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