self balancing unicycle ppt

for presentation

1. PRANVEER SINGH INSTITUTE OF TECHNOLOGY SEMINAR TOPIC SELF BALANCING UNICYCLE PRESENTER mentor SUMIT KATIYAR Mr. ASIF AHMAD Assistant Professor psit kanpur

2. TABLE OF CONTENT WHAT IS SELF BALANCING HISTORY ORIGIN INTRODUCTION Gyroscope LITERATURE REVIEW TECHNICAL PART Steering damper Motor Tire and tube Seat and seat pole Motor controller Battery selection Microcontroller Conclusion

3. WHAT IS SELF BALANCING The process by which a system achieves and maintains a steady state by internal forces. When any driver or object disturb any mechanism and mechanism regain it’s original position without any external forces

4. HISTORY The unicycle's history began with the invention of the bicycle. Comte De Sivrac first developed bicycles during the late eighteenth century. His device, called a celerifere, was a wooden horse that had two wheels joined by a wooden beam. During 1866, James Stanley invented a unique bicycle called the Penny Farthing. It is this vehicle that is thought to be the inspiration for the unicycle.

5. THESE ARE THE NEW AND MODEREN UNICYCLES WHICH HAVING MORE TECHNOLOGY AND STABILITY

6. ORIGIN The robot was physically modeled as an inverted pendulum and the mathematical model Was derived. Matlab control system toolbox was then used to analyze the system model And determine the system poles and stability region. The closed loop control system was Then formulated. These were done using hypothetical parameters, the real robot Parameters were then substituted in the model and the system balanced again.

7. INTRODUCTION The unicycle is a one wheel bike that needs the rider to balance it without falling down. The rider needs to find the center of gravity by balancing their body and also controlling the pedal. The bike could fall in four directions which are left, right, forward and back. In the modern era, the unicycle has advances to more sophisticated design. The movement of the bike is control by using a DC motor

8. The balance of the bike is controlled by the sensors called gyrometer and accelerometer. However, in building the electric vehicle, the stability issue needs to be considered and measured accurately. As it is one wheel, the speed of the motor also needs to be controlled properly to get the stability. The smoothness is an important matter need to be considered during the ride. The vehicle will achieve the at some constant speed. But to stop the vehicle, the speed needs to be reduced smoothly without sudden stop. All the works of controlling the motor is centered in a programming device called Arduino . It acts as the brain of the whole system in order to keep the vehicle upward without fall.

9. Gyroscope A   gyroscope  is a spinning wheel or disc in which the axis of rotation is free to assume any orientation by itself. When rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according to the conservation of angular momentum. Because of this, gyroscopes are useful for measuring or maintaining orientation. Gyroscopes based on other operating principles also exist, such as the electronic, microchip-packaged MEMS gyroscopes found in consumer electronics devices, solid-state ring lasers, fiber optic gyroscopes, and the extremely sensitive quantum gyroscope.

10. LITERATURE REVIEW Focus Designs self balancing unicycle Trevor Blackwell’s Electric Unicycle unicycle steering analysis

11. SELF BALANCING UNICYCLE DESIGN

12. TECHNICAL PARTS Steering damper Motor Tire and tube Seat and seat pole Motor controller Battery selection Alternative option: Sealed lead-acid Microcontroller

13. MOTOR ranging from roughly 200W to 300w Cost approx 500$ the motor has 56 magnets and 56 poles, allowing a smooth acceleration of the motor to be produced. It is also a brushless system, meaning that the motor produces less wear, less noise and higher efficiencies than brushed motors

14. Tire and tube A Schwalbe City Jet HS 257 16" Tire is used in the project with a 16" Presta valve inner tube . It also take care of less area is used or having maximum efficiency

15. Seat and seat pole The selection of the seat, seat post and seat clamp was driven by cost, availability and Compatibility. At the time of purchase, the seat was found on sale on Unicycle.com for $50. The seat pole and clamp were purchased to match the seat. The seat is comfortable and has hard plastic sections on the front and back. These Absorb impact and prevent damage to the seat fabric. The section on the front also Acts as a hand grip. In addition, the quick release clamp and seat pole allows for easy Adjustment of the seat height.

16. Motor controller The Roboteq BL1500 controller and the Maxon DEC 70/10 are both suitable for the Requirements of the project. However, the Maxon was used in the project due to sponsorship from Maxon Motors Australia AnFor this project, the motor controller must be able to accurately scale the current outputd rapidly switch between forward and reverse.

17. Battery selection The two types of rechargeable batteries considered for use in the Unicycle were sealed lead-acid (SLA) and lithium-ion ( li -ion). The Li-ion batteries were considered as a preferred option due to their high energy density. However, they are expensive and require extra cell balancing hardware. SLA batteries were specified as second options as they are inexpensive. However, additional funding eventually allowed for the purchase of two lithium-ion batteries from Ping Battery

18. Conclusion First, the stall torque of 30Nm exceeds the 22 Nm torque required for stabilisation of The Unicycle and rider . Secondly, the results have allowed for reasonable Estimation of the torque constant of the Magic Pie motor. Finally, these results will serve as a benchmark for the future testing of the motor with the Maxon motor controller and help to indicate any possible problems

19. THANK YOU