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self balancing bicycle prototype using flywheel(reaction wheel) — Parallax Forums

self balancing bicycle prototype using flywheel(reaction wheel)

ykhoodyykhoody Posts: 4
edited 2011-10-20 12:22 in Robotics
Hello everybody,
Well I'm a level 4 mechatronics students from Mauritius and doing my project on a self balanced bicycle which uses a flywheel to achieve this.A better view of it can be seen on:
http://www.youtube.com/watch?v=0312BNqIBFI&feature=related
OR EVEN ON:
http://www.youtube.com/watch?v=d1Uy7bU6TII&feature=related
http://www.youtube.com/watch?v=AvGUuuq7DOE&feature=related

During the past 3 weeks,I've been struggling on calculation of torque(flywheel motor) and I'm stuck.
I have been using the formula T=J*alpha,
where J=moment of inertia and alpha=angular acceleration.

I have assumed overall mass of prototype to be around 2.5 kg,radius of flywheel=5 cm,mass of flywheel=0.5kg,radius of driving wheel=5 cm,max permissible tilting angle=30 degrees.

Could you please help me in selecting my 12V DC motors:flywheel motor(rpm,torque)
Driving motor(rpm,torque)
and flywheel specifications(radius and mass)
and finally if gear box(reduction gear) is needed,its ratio??
Thanking you all in advance.
Best regards

Comments

  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 23,514
    edited 2011-10-16 12:38
    I wish I could lend a hand on such a cool project; but, unfortunately, I have nothing to contribute. I'm just here to say that I'm quite impressed with what you've already accomplished! Welcome to the forum, and keep up the good work!

    -Phil
  • W9GFOW9GFO Posts: 4,010
    edited 2011-10-16 14:48
    This reminds me of the gyro cars, except they had the flywheels oriented horizontally.

    http://www.aqpl43.dsl.pipex.com/MUSEUM/TRANSPORT/gyrocars/gyrocar.htm
  • ykhoodyykhoody Posts: 4
    edited 2011-10-16 22:19
    thank you.Infact I am impressed too and really want to do this.
  • ercoerco Posts: 20,256
    edited 2011-10-17 08:53
    ykhoody wrote: »
    thank you.Infact I am impressed too and really want to do this.

    Weren't those your videos? If not, you want to duplicate those results?
  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 23,514
    edited 2011-10-17 08:55
    Oh. I thought the OP made those videos of his own projects. Maybe not.

    -Phil
  • ykhoodyykhoody Posts: 4
    edited 2011-10-17 14:24
    erco wrote: »
    Weren't those your videos? If not, you want to duplicate those results?

    those are not mine and I'm not sure would be able to duplicate but at least the prototype must remain upright
  • Daniel HarrisDaniel Harris Posts: 207
    edited 2011-10-19 15:43
    The way I see it, you have three vectors you can effect: pitch, roll, and yaw. However, since your pitch is fixed because your are working with a bicycle, you do not need to worry about the pitch of the system. Same for yaw as that is controlled by the bicycle's steering mechanism. Now, it has been a while since I took physics, but if memory serves, you get a resultant vector by rotating a wheel on a fixed axis as per the right hand rule. I'd dust off that physics book (or google for it) and look into vector cross products and angular momentum.

    You should be able to use a gyroscope sensor module to get a reading on how your robot is balancing in the roll axis. Feed this back into a PID loop to figure out how you should adjust the angular velocity of your flywheel to keep your robot balanced.

    I hope all of that makes sense :).
  • BamseBamse Posts: 561
    edited 2011-10-20 11:23
    Cool project...

    I like the gyro car idea, probably easier to implement than the flywheel on the bike...
  • ykhoodyykhoody Posts: 4
    edited 2011-10-20 12:22
    ya well said..it do make sense...bt my problem is in choosing motor,you see?
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