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DIY Self-Balancing One Wheel Vehicle

By Rama Rekto in Circuits > Robots 32,032 264 36 Featured

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By Rama Rekto
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Interested in some of the trend of self balancing products such as segway and
solowheel.
yes, you can go anywhere by riding your wheel without tiring. but it's great if you can
have it yourself. Well, Let's Build It :)

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 Step 1: Ready Your Electric Motor

The first step of the project is the selection of the right motor, why? because this
project we are required how to make electric vehicle with small dimension and light
weight.

In this project I chose the Electric Hub-Motor, I suggest you to use hub-motor only
because if using a standard motor you will need a complicated mechanical system.
excess hub-motor here we no longer need to connect between motor and wheel use
chain, because wheel and motor have become one unity. So, electric DC motor other
than hub-motor is not recommended for this project.

Hub-motor that I choose with wheel size 14inch, I think enough for me because it fits
with the ergonomics of Indonesian bodies.

Speci cation motor-hub = Power: 500watt, Voltage: 60v, Size: 14inch

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Step 2: Designing Vehicle's Body (using 3D CAD Software)

At this step, it's time we put our imagination about vehicle body into 3D image. 3D
model design before fabrication is very important, to minimize the occurrence of
workmanship errors.
I need to make 3d drawing first because the manufacture of vehicle framework using
CNC machine.
Well, on this project I have designed the vehicle body using Autodesk Inventor
Professional. I'm sure you've used it too right? but if you do not have time to draw it,
you can download some of my part files on my grabcad account.

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Step 3: Making Frame (Aluminium Frame)

Manufacturing process of this project, I divide into three steps, the first is metalwork
(Aluminium Frame), the second is nonmetal (PE Material), the last is body cover (PVC
pipe material).

Now we start from metalwok (aluminium frame). Aluminum frame is the main frame of
this vehicle, the weight of the rider will be supported by this aluminum frame,
electronic laying and batteries are also mounted on this aluminum frame. You can look
for aluminum material from junk shop, roughly you need some old aluminum:

1) 3mm aluminum sheet (80cm x 40cm) = used for electronics and battery place.

2) solid aluminum (14cm x 11cm x 5cm) = used for pedal holder.

This work you need a manual milling machine or cnc milling machine.
You can download the pedal holder file here : https://grabcad.com/library/pedal-holder-
1

You can download the Plate frame file here : https://grabcad.com/library/self-balancing-

unicyc...

Pedal Holder Pens-Wh… Download

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Step 4: Making Frame (Non Metal)

These non-metal frames are not as important as aluminum frames, but these non-
metal frames that will beautify your one-wheel, are used as a body-cover holder and
also has a handle that allows you to carry it everywhere.

The center of this part is mounted on the aluminum frame with 4mm nuts, then the
side of this part will be installed body cover

You can download these parts here : https://grabcad.com/library/case-holder-self-bal

a...

case holder.pdf Download

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Step 5: Electrical System

The battery that used is Li-Ion battery with specification: voltage 60v and current
2200mAh, you can buy it from online store.
The electronics system that used in this project is the ARM Cortex F4 as a minimum
system. Gyroscope and accelerometer sensors that integrated in the IMU sensor is
used to obtain forward and backward balance of this vehicle. The driving circuit as the
motor driver is the IRAM BLDC.

For detailed information about electrical system, you can refer to this paper for
reference >> http://ieeexplore.ieee.org/document/7860971/

Location of IMU sensors installation on the vehicle, greatly affect for the balance, on
this project the IMU sensors mounted on the aluminium frame and 4cm above the
wheel axis.

the filter that use for the combination of gyroscope and accelerometer sensor is the
Kalman filter,

please refer to my research paper about Kalman Filter >> http://ieeexplore.ieee.org/doc

ument/7861046/?sect...

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Step 6: Programming - Balancing Test With No Rider

This balancing test with no rider, this test should be completed before driving

If the condition of the vehicle is still unstable like the video above, it means not to be
ridden. You have to change the PID value in order to get the best result, the vehicle
must be perfectly balanced before being ridden (marked with this vehicle stationary,
not moving at all)
the software application used to program is the Keil uVision and Coocox IDE, I'm sure
you already know it, for more details can visit here

http://www2.keil.com/mdk5/uvision/

http://www.coocox.org/software/coide.php

the filter that use for the combination of gyroscope and accelerometer sensor is the
Kalman filter,

please refer to my research paper about Kalman Filter >> http://ieeexplore.ieee.org/doc

ument/7861046/?sect...
For detailed information about electrical system and control, you can refer to this paper
for reference >> http://ieeexplore.ieee.org/document/7860971/

PENS WHEEL - MPU60… Download

PENS WHEEL Motor.txt Download

PENSWHEEL Kalman.txt Download

PENS WHEEL - stm32f… Download

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Step 7: Making Body-Cover From PVC Pipe, Mold From Plywood

The material used for this body-cover is PVC pipe that is flatten and shaped manually
by burning process.
Ready your PVC pipe, some plywood sheets, and glue.

First you need to make a mold made from plywood, I suggest you cut the plywood
using laser cutting because the result is better and more precise, otherwise you can
cut it manually.

how to make it, first cut your pvc according to the required mold shape, then burn it
until it can be molded and put on the mold, let it cool and stiff.

How to Flatten the Pvc Water Pipe for Making Any Stuff by burned, you can go to my
friend's tutorial https://www.instructables.com/id/How-to-flatten-th...

Mold Laser Cutting.pdf Download

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Step 8: Let's Ride

Let's Ride.. :)

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Second Prize in the
Wheels Contest 2017

View Contest

Participated in the
Epilog Challenge 9
 View Contest

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36 Discussions

Deepak8488 Question 4 months ago on Step 5

Answer / Upvote
I am not able to locate these controller and driver board .Please help me in finding the boards in India
.. and also elaborate how to wire them as well as the Kalman Filter .. how to use it ... please help ... i
want to make my own wheel
1 answer F

Surely salvi Question 11 months ago on Step 1

Answer / Upvote
What is the width of the Tyre?

9334683 Question 1 year ago

Answer / Upvote
hello
can I have your Arduino program with library for control system?

9334683 1 year ago on Step 6

Reply / Upvote
 hello
can I have your Arduino program with library for control system?

sagarparmar5459 Question 1 year ago

Answer / Upvote
hey mate can i use cortex m3 instead of cortex m4
1 answer F

/1 roboguy88 Question 1 year ago on Step 5

Answer / Upvote
Can you provide a link for where to buy the motor driver board? Thanks.

sekolahrobot 1 year ago

Reply / Upvote
its cool men,

wow

RobotsMaking 1 year ago

Reply / Upvote
That's so awesome!!! I have maybe one suggestion: you can make the PVC layer out of ABS plastic
sheets too! there are a lot of people that use ABS plastic for vacuum forming.
https://www.banggood.com/ABS-Plastic-Plate-30x20x0_3cm-Black-Styrene-Flat-Sheet-Multi-purpose-
Board-p-1120630.html?rmmds=search&cur_warehouse=CN <=== an ABS plate pretty cheap.
A vacuum forming set up can be made pretty easily with an old oven and vacuum cleaner.
1 reply F

Swansong 1 year ago

Reply / Upvote
That's really impressive! It looks like a lot of fun!

1 reply F

kolkoli 1 year ago

Reply / Upvote
 share some videos

askjerry 1 year ago

Reply / Upvote
Not much to say except... IT WAS AWESOME!

--> VOTED ! ! !

Adin10 1 year ago

Reply / Upvote
Mantabz.. beli jadi di sampeyan berapa rupiah bos?

Simon_Carter 1 year ago

Reply / Upvote
Street legal?
1 reply F

GhengisKhan1981 1 year ago

Reply / Upvote
Absolutely awesome! Well done!!!

auto13142828 1 year ago

Reply / Upvote
I saw someone crash their one wheel skateboard and get taken away in an ambulance. He was going
uphill and the power failed and down he went on to his hip.

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