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Ieaneme007 (Report) PDF
Ieaneme007 (Report) PDF
B Tech Seminar
by
AKSHAY VENUGOPAL
IEANEME007
Mr. PRIYESH .K
Mr.PRIYESH .K
(Guide)
Asst. Professor
Dept. of Mechanical Engineering
Mr.KISHOR KAMAL
Head
Dept. of Mechanical Engineering
Place:
Date:
ACKNOWLEDGEMENT
I give hearty thanks to my friends and family, especially for their support
and inspiration. Above all, I am indebted to the Almighty for granting his
blessings through each stage of my work.
AKSHAY VENUGOPAL
ABSTRACT
Balancing any two wheeled vehicle is always a challenging task for human
and robots both form long time. Learning a bicycle driving is long time process
and goes through building knowledge base for parameter decision making while
balancing robots. The Automatic Balancing bicycle will employ a control system
to keep itself from falling over while in motion, and be propelled by a motor. This
aim of proposed system was to build a two-inline-wheel bicycle prototype capable
of balancing itself using a reaction wheel. This robotic bicycle is able to drive and
also come to a complete stop without losing its balance. In order to maintain
balancing, the robot reads sensor input to detect tilt angle and correctly reacts to
maintain a steady vertical position. Sensor data is fed into a control system which
outputs a balancing torque to a motor spinning the reaction wheel. The
requirements include that the bicycle should be capable of accelerating, driving in
a straight line and stopping without falling.
CONTENTS
List of Abbreviations ii
List of Symbols iii
List of Figures iv
1 INTRODUCTION 1
1.1 Passive balance systems 2
1.1.1 Training wheels 2
1.1.2 Gyrowheel 3
1.2 Active balance system 4
1.2.1 Gyro stabilized mono rail 4
1.2.2 Gyrover 5
1.2.3 Ghostrider 6
1.2.4 Murata boy 7
2 LITERATURE SURVEY 9
3 GYROSCOPE 12
3.1 Angular velocity 12
3.2 Angular acceleration 13
3.3 Gyroscopic torque 15
4 WORKING PRINCIPLE 18
5 OVER VIEW 22
5.1 Overview 22
5.2 Control Overview 22
5.2.1 Micro controller unit 23
5.2.2 Angle sensor 24
5.2.3 Actuator unit 25
6 CONCLUSION 27
6.1 Conclusion 27
6.2 Future scope 27
REFERENCE 29
i
List of Abbreviations
ii
List of Symbols
A - Acceleration
α - Angular acceleration
ω - Angular velocity
θ - Deflection angle of the flywheel around its gimbal pivot
H - Height of the bicycle's center of gravity
I - Moment of inertia
Ф - Tilt angle of the bicycle
T - Torque
W - Weight of bicycle
iii
List of Figures
iv
CHAPTER 1
INTRODUCTION
There are many solutions to the inverted pendulum project that already
exist, some of which provide complete stabilization of a system, others of which
dampen the motion of the system enough to allow for human correction of any
deviation in tilt angle. These solutions can be broken into two groups. one can be
1
considered Passive Balance Systems, and Active Balance Systems. An Active
Balance System is defined as a system which actively senses the tilt angle of the
system and provides a corrective force based on the tilt angle to stabilize the
system, whereas a Passive Balance System simply dampens or mechanically
limits the motion of the system without any utilization of a calculated tilt angle.
Active balance systems may either provide complete stabilization for a system or
dampen the motion of the system. Passive Balance Systems can only dampen the
motion of the system.
2
become gradually less dependent on the training wheels over time; they are either
attached to the bicycle or they are not. The other major disadvantage of training
wheels is that they do not provide stability under all normal use conditions. Any
situation in which the rider's center of gravity extends beyond the width of the
training wheels will result in a failure (the rider falls over), this can happen during
a sharp turn or when traveling over uneven surfaces. These can be considered
normal use cases for a bicycle.
1.1.2 Gyrowheel
3
adjusted by the user, which allows for a gradual transition from dependence on the
stability aid, to the ability to ride a standard two wheeled bicycle, making the
Gyrowheel an effective teaching tool. The Gyrowheel has several shortcomings as
well. Because it is a powered system, the Gyrowheel can only be operated
continuously for a finite amount of time before the battery needs to be recharged.
The Gyrowheel also alters the experience of riding a bicycle in ways other than
improving stability due to the fact that the gyroscope also resists angular motion
around the vertical axis, and as such requires more force by the rider to turn the
handlebars of the bicycle which may not be ideal for a disabled person or a small
child. The Gyrowheel also dampens angular motion towards the vertical axis as
well as away from it, therefore there is a tradeoff between the increased reaction
time given to the user to right the bicycle as it tilts away from the vertical axis and
the increased effort required to right the bicycle once it tilts away from the vertical
axis.
4
The system causes torque-induced precession of the gyroscope by rotating the fly
wheel around it's vertical axis using a motor. Since a spinning gyroscope resists
this motion, the reaction torque on the actuating motor, which is fixed to the
monorail car, causes the entire car to rotate around the axis of the monorail track.
Thus actuation of the flywheel can be used to stabilize the entire system.
1.2.2 Gyrover
5
Fig 1.5 : The Gyrover uses it's chasis as a wheel.
1.2.3 Ghostrider
6
Fig 1.6 : The Ghostrider Motorcycle.
Though this strategy may be useful in teaching the rider proper technique,
the manner in which the Murata Boy adjusts its position would not be effective for
a human user, even if the system could be adapted as a wearable flywheel. Murata
Boy is capable of keeping track of all of its parts, and modeling its current center
of gravity. Since positional correction is achieved by accelerating a flywheel
7
around it's spin axis in either the positive or the negative direction, the system will
fail when the motor reaches its maximum speed. This would happen if the rider
had a tendency to lean to one side while riding
8
CHAPTER 2
LITERATURE REVIEW
A self-balancing robot bicycle uses sensors to detect the roll angle of the
bicycle and actuators to bring it into balance as needed, similar to an inverted
pendulum. It is thus an unstable nonlinear system.
9
Lee and Ham in 2002 proposed a load mass balance system. A control
strategy was developed to turn the bicycle system left or right by moving the
centre of a load mass left and right respectively.
10
momentum, whose angular momentum vector direction can be changed for a
bicycle by rotating the spinning rotor. The spinning rotor, which is on a gimbal,
applies a torque to the gimbal to produce a precessional, gyroscopic reaction
torque orthogonal to both the rotor spin and gimbal axes. A CMG amplifies torque
because a small gimbal torque input produces a large control torque to the bicycle.
The robot described in this work uses the CMG as a momentum exchange
actuator to balance the bicycle. Advantages of such a system include its being able
to produce large amounts of torque and having no ground reaction force. The
CMG has not been widely used as an actuator other than on large spacecraft to
control the attitude of large spacecraft and space infrastructure such as the
International Space Station . There are many reasons for this, but mainly this is
due to the complexity of the mechanical and control system needed to implement
an effective CMG, and also because off-the-shelf CMG systems are generally
made for larger satellite market. Large torque amplification and momentum
storage capacity are two basic properties that make CMG superior when compared
to the reaction wheels. Compared with reaction wheels, CMG are relatively
lightweight and they have a capability to generate higher torque levels per unit kg.
11
CHAPTER 3
GYROSCOPE
12
For example, Fig. 3.1 (a) shows a rotor which rotates in the clockwise
direction when viewed from the end A. Its angular motion has been shown
vectorially in Fig. 10 (b). The vector has been taken to a scale parallel to the axis
of the rotor. The sense of direction of the vector is from a to b according to the
screw rule. However, if the direction of rotation of the rotor is reversed, it would
be from b to a Fig. 3.1 (c).
Let a rotor spin (rotate) about the horizontal axis Ox at a speed of 𝜔 rad/s
in the direction as shown in Fig. 3.2(a). Let oa represent its angular velocity [Fig.
3.2 (b)] , if the magnitude of the angular velocity changes to (𝜔+d𝜔) and the
direction of the axis of spin to Ox' (in time dt), the vector ob would represent its
angular velocity in the new position. Join ab which represents the change in the
angular velocity of the rotor. The vector ab can be resolved into two components:
13
Fig 3.2: angular acceleration
( 𝜔 +δ𝜔 )cos δθ − 𝜔
Rate of change of angular velocity = δt
( 𝜔 +δ𝜔 )cos δθ − 𝜔
Angular acceleration= limδt→0 δt
As δt → 0, δθ → 0 and 𝑐𝑜𝑠δθ → 1
𝜔 +δ𝜔 − 𝜔 δ𝜔
There fore, Angular acceleration =limδt→0 =
δt δt
( 𝜔 +δ𝜔 )sin δθ
Rate of change of angular velocity = δt
( 𝜔 +δ𝜔 )sin δθ
Angular acceleration = limδt→0 δt
As δt → 0, δθ → 0 and 𝑠𝑖𝑛δθ → δθ
( 𝜔 +δ𝜔 )δθ δθ
There fore, Angular acceleration = limδt→0 =𝜔
δt δt
δ𝜔 δθ
Total angular acceleration = +𝜔
δt δt
14
δθ
2. 𝜔 , representing the change in direction of axis of spin.
δt
Let I be the moment of inertia of a rotor and to its angular velocity about a
horizontal axis of spin Ox in the direction as shown in Fig. 3.3(a). Let this axis of
spin turn through a small angle δθ in the horizontal plane (xy) to the position Ox'
in time δt.
Figure 3.3 (b) shows the vector diagram. oa represents the angular velocity
vector when the axis is ax and ob when the axis is changed to Ox'. Then ab
represents the change in the angular velocity due to change in direction of the axis
of spin of the rotor. This change in the angular velocity is clockwise when viewed
from a towards b and is in the vertical plane xz. This change results in an angular
acceleration, the sense and direction of which are the same as that of the change in
the angular velocity.
δθ
In the limit when δt → 0 , α = 𝜔 δt
15
δθ
Usually , the angular acceleration of spin is called angular velocity of
δt
α = ω.ωp (3.1)
A = I ω.ωP (3.2)
The torque obtained above is that which is required to cause the axis of
spin to precess in the horizontal plane and is known as the active gyroscopic
tongue or the applied torque. A reactive gyroscopic torque or reaction torque is
also applied to the axis which tends to rotate the axis of spin in the opposite
direction, i.e. in the counter-clockwise direction in the above case. Just as the
centrifugal force on a rotating body tends to move the body outwards, while a
centripetal acceleration (and thus centripetal force) acts on it inwards, in the same
way, the effects of active and reactive gyroscopic torques can be understood.
The effect of the gyroscopic couple on a rotating body is known as the
gyroscope ct on the body. A gyroscope is a spinning body which is free to move
in other directions under the action of external forces.
16
CHAPTER 4
WORKING PRINCIPLE
This project employs a single axis CMG which is the most energy-efficient
among different design of CMGs. As the motorized gimbal of a single axis CMG
rotates, the change in direction of the rotor’s angular momentum generates a
precessional torque that reacts onto the frame of the bicycle to which the CMG is
mounted. The precessional torque generated is used to balance the bicycle. Single-
gimbal CMG exchange angular momentum is very efficient and requires very
little power. Large amount of torque can be generated for relatively small
electrical input to the gimbal motor; CMG is a torque amplification device.
17
The bicycle relies on gyroscopic precession torque to stabilize the bicycle while it
is upright. Figure 4.2 shows how precession torque balances the bicycle.
When the bicycle is tilted at angle θroll as shown in Figure 4.2, an inertia
measurement unit (IMU) sensor detects the roll angle. Roll data is fed to an on-
board controller that in turn commands the CMG’s gimbal motor to rotate so that
gyroscopic precession torque is produced to balance the bicycle upright. The
system uses a single gimbal CMG and generates only one axis torque. The
direction of output torque change is based on gimbal motion. Figure 4.1 shows the
components of a single gimbal CMG. The system uses gyroscopic torque to
balance the bicycle. With reference to Figure 4.2, when the CMG precess about
the gimbal axis, a gyroscopic torque normal to the frame of the bicycle will be
generated to balance the bicycle.
The following mathematical analysis illustrates how the flywheel
configuration above can be used to stabilize the bicycle.
18
Gyroscopic torque of the flywheel about the roll axis of the bicycle (axis
defining the tilt angle of the bicycle from its vertical position
𝑑𝜃
T = Iflywheel × ω × 𝑑𝑡 (4.1)
.
Fig 4.3 : Rotation axes of the flywheel gimbal
Where Iflywheel is the moment of inertia of the flywheel about its spin axis,
𝑑𝜃
ω is the angular velocity of the flywheel about its spin axis, is the angular
𝑑𝑡
19
Moment causing the bicycle to tilt due to gravity is
T = W × h × sinФ (4.2)
where W is the weight of the bicycle, h is the height of the bicycle's center
of gravity, and Ф is the tilt angle of the bicycle The equation of motion for the
bicycle about the roll axis is therefore
𝑑2 Ф 𝑑𝜃
Ibicycle × + Iflywheel × ω × = T = W × h × sinФ (4.3)
𝑑𝑡2 𝑑𝑡
Where Ibicycle is the moment of inertia of the bicycle about the roll axis (the
ground).Based on equation 3, it is possible to control the tilt angle Ф of the
bicycle by controlling the deflection angle θ of the flywheel around its gimbal
pivot.
20
CHAPTER 5
OVER VIEW
Based on the design requirements, there were two options for what bicycle
frame to use for this project: a child-sized bicycle or a smaller frame built from
scratch. In the end, it was decided to build a small scale frame from scratch due to
cost considerations and space considerations. Due to the high mass of a child-
sized bicycle, the flywheel motor and associated controller required to balance it
would be large and costly, and would not fit within the budget of this project[6].
The whole bicycle is constructed with the help of aluminum angles and
arrangements to mount drive motor and keeping electrical circuitry. The cycle is
low-lying so as to make its centre of mass low. Flywheel is made of mild steel,
and it is sufficiently heavy enough to provide enough reactionary torque in the
high torque motor attached to the vertical aluminum angles. The flywheel is
mounted on an axis parallel to the length of the bicycle. As the bicycle tilts, a
motor applies a torque to the flywheel, which applies a reactionary torque on the
bicycle to re-balance. A microcontroller implements a PID control algorithm
based on the measured tilt angle to determine the required torque for the motor to
apply to the flywheel.
The control of the bicycle is divided into two parts: balancing controlled
by a microcontroller and steering and propulsion remotely controlled by an
operator. The two control systems are described in further detail below, and the
entire system is illustrated in a fig.
21
Fig.5.1 : System block diagram
22
ADC conversion of outputs of Rate Gyro and Accelerometer.
Processing the input signals
Periodic recalibration of gyro
Display of angle & other data.
Control of actuator unit
Tilt sensing is the crux of this project and the most difficult part as well.
23
To measure the bicycle’s tilt angle, it was decided to use an accelerometer
and a gyroscope, and to combine them using a complimentary filter. Integrating
these two sensors proves useful when calculating the bicycle’s tilt angle.
Accelerometers may be used to measure the angle with respect to gravity directly,
but they are highly susceptible to noise. Gyros are less susceptible to noise, but
they measure angular velocity. As a result, the gyro output must be integrated in
order to obtain a measurement of angular position. This integration yields an error
known as drift, a drawback of the gyro. Integrating both sensors allows one to
easily combine the output of each sensor in order to obtain a more accurate angle
reading. This is accomplished through the implementation of a filter, which
combines the advantages of each sensor and eliminates the drawbacks of each
sensor.
As the bicycle tilts, we need to apply a restoring force to return the robot to
vertical position. A reaction wheel pendulum model is followed for the balancing
purpose. The components used are:
24
A metallic reaction wheel
Motor driver L293D
The capacitor connected across the motor charges and discharges during
the on and off time respectively, thus behaving like an integrator. The torque
generated by the motor is a function of the average value of current supplied to it.
It seems to be obvious that once we have angle we can rotate the flywheel with
acceleration proportional to it, but that won't do the job. If that is done what
actually will happen is that when there is a tilt the bike will cross the mean
position and reach the other side till the same tilt angle. To fix this we need some
kind of algorithm that can damp this periodic motion and make it stable at the
mean position after some time. This is where PID (Proportional Integral and
Derivative) Controller comes to use.
25
CHAPTER 6
CONCLUSION
6.1 Conclusion
26
However this concept is rather implemented on a large scale to develop a
Motor-bike concept vehicle developed by Lit motors which offers the advantages
of both car (comfort, safety) & bike (enhanced mileage, less occupancy). This
concept car is rather an evolution of the earlier used gyroscopic vehicles into a
modern electric vehicle that stabilizes on its own[7].
The vehicle has two spinning wheels/discs that are imparted on back side
of the vehicle, they mainly act as gyroscope and the precession of which is
responsible for the stability of the vehicle. Thus, the concept car developed by Lit
motors is self stabilizing, however it has one more added feature i.e. even if any
external force is applied to the vehicle it comes back to its original position, i.e. it
not only stabilizes but also balances itself on its own against any disturbances in
stationary as well as moving condition.
The self balancing phenomenon is possible only because of the high level
electronic system imparted in the vehicle that gives the necessary signal to the
gyroscope to produce a counterbalancing effect as per the applied external force
so that the vehicle comes back to the initial position after getting displaced.
27
REFERENCE
28