ACKNOWLEDGEMENT

It is not possible to prepare a project without the assistance and encouragement of other
people. This one is no exception.

I am extremely thankful to my guide Madhu M, Assistant Professor, Department of

Mechanical Engg at PES University, Bangalore, for granting me this opportunity to
prepare the project, facility needed and for his support to carry out my work.

I would like to announce my great sense of gratitude to Dr. Jyothiprakash K. H.,

Assistant Professor, Department of Mechanical Engineering, PES University, Bangalore,
for the encouragement, guidance and supervision provided at every stage of this project.

I am grateful to Dr. Rajesh Mathivanan N., Chairperson, Department of Mechanical

Engineering, PES University, Bangalore, for the kind cooperation to carry out my work.

I would like to express my deep gratitude to Dr. V. Krishna, Dean of Student Affairs,
PES University, Bangalore, for providing me with the facilities to go forth with this
study. I would like to express my gratitude and my humble thanks to Dr. Suryaprasad J.,
Vice Chancellor, PES University, Bangalore, Dr. K. S. Sridhar, Registrar, PES
University and Dr. Keshavan B. K., Dean of Engineering, PES University, Bangalore
for all support extended for completion of this work.

I am thankful to all the faculty members and non-teaching staff of the Department of
Mechanical Engineering, PES University, Bangalore, for the necessary knowledge and
cooperation given in accomplishing this work. I am very thankful to my friends who have
been cooperative and helpful in carrying out this work. Lastly, I would like to thank my
parents for their unwavering guidance and continuous encouragement throughout, without
whom I would be nowhere near where I am today.
 ABSTRACT
One of the most significant and useful forms of transportation is the two-wheeler. Due
to their light weight, affordability, convenience of parking, and potential to cut down on
traffic time, two-wheelers, such as bicycles and bikes, may be found all over the world
and are frequently used for transportation.
A two-wheeler will invariably tip over once tilted past a certain angle, unlike four-
wheelers. Hence, a two-wheeled vehicle's stabilization is crucial for the transportation
system since it lowers the number of accidents that two-wheelers are responsible for.
Three techniques can be used to balance a two-wheeler: balancing with rotating discs,
balancing with a flywheel, and balancing with a stabilizing wheel (Gyroscope Approach).
Every civilization in the world has bicycles since they are a universal product. They are
widely utilized for transportation, don't cause pollution, and are simple to make. Yet,
stability is a significant consideration when riding a bicycle. Children, in particular, could
benefit greatly from a device that can help a cyclist balance without impairing the
experience of riding a bicycle. Both as a teaching tool and a physical therapy aid, a
system like this might be used.

Gyroscopes are extremely stabilizing tools that are utilized for aircraft flight control and
ship stabilizing systems. Three techniques can be used to balance a two-wheeler:
balancing with rotating discs, balancing with a flywheel, and balancing with a stabilizing
wheel (Gyroscope Approach).
Since gyroscopes are utilized in other stabilizing systems like ship stabilizers and aircraft
in-flight control, they can significantly contribute to the stabilization of two-wheeled
vehicles and gyroscopically stabilized vehicles would be safer than ordinary two-
wheelers. The same concept also holds true for bicycles. In this project, we built a self-
balancing two-wheel bicycle for kids learning cycling using a flywheel type gyroscope.
In order to create a self-balancing two-wheeler prototype that uses a gyroscope and PID
(Proportional Integral Derivative) controller to balance itself, the optimal construction
technique must be determined. When the bicycle tilts, the gyroscope will provide it the
proper pseudo force which helps with the balance. In order to create a driver-operated a
two- wheelers with less need of human effort and excertion, the concept of a self-
balancing bicycle can also be applied. Finally, this report also discusses the potential
applications and emerging strategies for self-balancing.
Table of Contents
Chapter 1 INTRODUCTION....................................................................................................................... 5

Chapter 2 LITERATURE SURVEY........................................................................................................ 6

Chapter 3 OBJECTIVE.......................................................................................................................... 11

Chapter 4 METHODOLOGY................................................................................................................ 11
4.1.1 BRUSHLESS DC MOTOR................................................................................................12
A2212/13T 1000KV BLDC MOTORSPECIFICATIONS........................................................................13
4.1.2 LITHIUM ION BATTERY.......................................................................................................13
4.1.3 SERVO MOTOR/MOTOR CONTROLLER...............................................................................15
CCPM Servo Consistency Master/Servo Tester Specifications:......................................................15
4.1.4 ELECTRONIC CONTROLLER.................................................................................................15
BLDC ESC - Brushless Motor Speed Controller...............................................................................16
Brushless Motor Speed Controller Specifications:.........................................................................16
4.1.5 FLYWHEEL...........................................................................................................................17
FLYWHEEL..................................................................................................................................17
Flywheel Specifications:.................................................................................................................17
Chapter 5 EXPERIMENTAL WORK........................................................................................................... 18

Chapter 6 CALCULATIONS...................................................................................................................... 22
6.1 DESIGN CALCULATIONS OF FLYWHEEL........................................................................22
6.1 DESIGN CALCULATIONS FOR BALANCING...................................................................22
Chapter 7 ADVANTAGES AND DISADVANTAGES.........................................................................24
ADVANTAGES:...........................................................................................................................24
DISADVANTAGES:.....................................................................................................................24
Chapter 8: CONCLUSION.................................................................................................................... 25

CHAPTER 9: REFERENCES....................................................................................................................... 26
Chapter 1 INTRODUCTION

Bicycles are a common, everyday mode of transportation that can also be used for
exercise. Since bicycles also serve as a form of skill development for balance, power,
stamina, and muscle memory, they have evolved into an indispensable part of human life
over time. So, the most fundamental and straightforward illustration of the employment
of wheels in locomotion is a bicycle. Even while most people consider riding a bicycle to
be a straightforward task, this is not be the case for some individuals, such as children and
adults who have not yet learned to ride, those who have been wounded, or those who
have some sort of cognitive disability.

Problem Proposition:
The majority of traffic accidents today involve two-wheelers, according to global
accident statistics. And, needless to say, despite significant financial investments being
made in the production, research, and development of high-quality, technologically
advanced motorbikes, none have been found to guarantee the safety of both the driver and
the passenger on the road. Here, safety is simply a function of the rider's abilities and
driving style. Moreover, bike accidents are inevitable since the rider loses control of the
bike and it topples over its center of gravity. Hence, a mechanism that may help a cyclist
maintain balance is required in this situation.

Difficulties with learning to balance:

• Because each pedal press deviates from the bicycle's center line, pedaling creates the
most challenging and unbalanced condition. As a result, a maximal force that is to and
for in nature is generated.
• In contrast to the complex and continuously changing forces caused by pedaling, lateral
instability is more straightforward to understand and control because of its relatively
static and unchanging nature. Also, because bicycle tires are so thin, they offer very little
lateral stability.

• Centrifugal force, which happens when the bicycle rotates, or stops moving straight
ahead.
• Then, although it is a relatively little aspect in comparison to the ones stated above,
forward/backward is a factor that presents a problem when learning to ride a bicycle.
Possible Remedies:
Hence, a mechanism that may help a cyclist maintain balance is required in this situation.
A bicycle typically includes the following parts: Frame, gearing and the drive train
Handles, seating options, brakes, suspension, wheels, and tires are some examples of
accessories.
Now, from a mechanical standpoint, a non-gear cycle transmits around 99% of the power
generated by the rider onto the pedals to the wheels, and a geared cycle reduces or lessens
this proportion by about 10% to 15%.
Bicycles' physical dynamics have been studied by scientists, engineers, and mathematics.
The possibility of self-stability balance while riding a bicycle hasn't been widely
researched or tested.
A biker is incredibly susceptible to mistakes and mishaps on the road. Several reasons,
such as different road conditions, negligence, severe driving, speeding, and overloading,
might contribute to the rider's loss of balance. As a result, a device that the cyclist can use
to help with balance is required.
The bicycles can be equipped with a mechanical gyroscope to prevent similar situations.
It is based on the notion of an inverted pendulum.
Our design adds a safety feature to the two-wheeled bicycle by enabling the rider to keep
their balance while experiencing different tilts and vibrations.
The main justifications for employing a gyroscope for stabilization are as
follows: They give more stabilization and provide a smaller stabilized system.
• They are clear and simple to comprehend.

A rotating wheel or disc having an axis that can freely rotate in any direction is referred to
as a gyroscope. Because of the conservation of angular momentum, tilting or rotation of
the mounting does not change the orientation of this axis while it is rotating.

Chapter 2 LITERATURE SURVEY

In 2005, D.P. Anderson created a prototype for self-balancing two wheelers under the
title "Nbot, a two-wheel balancing robot" [1]. The experiment described in the paper was
done to give the prototype a gyroscopic effect. The vehicle prototype has two wheels and
revolving discs that operate as gyroscopes to provide a pseudo force and a gyroscopic
effect, when it loses balance on either side. As a result, the car balances itself. Due to the
presence of two gyroscopes utilized in the vehicle, even if an
external force is provided to the system, the gyro sensors deployed in it perceive the force
and create a force of a comparable size but in the opposite direction, preventing the
vehicle from losing its balance.

Design & Development of Self-Balancing Bike Using Reaction Wheel, International

Journal of Engineering Science and Computing, Suvarna Shinde, Mane, Mohite,
and Prof. Chandraprakash Zode (2021) [2] The goal of this project is to create a two-
wheeled prototype vehicle that can balance both with and without a rider. The
autonomous bike would be powered by a dc motor and a servo for steering control, and it
would have a control system to prevent itself from toppling over while it was still or
moving. The objective of this project is to construct a bike prototype that can balance
itself using a response wheel based on the inverted pendulum principle. The vehicle takes
input from the MPU-6050 sensor, calculates the tilt angle, and responds appropriately to
maintain a vertically erect stance on its two wheels in order to maintain its self-balance.
Sensor data is first analyzed to produce noiseless data about the condition of the bike,
after which it is supplied into a control system that produces a signal to drive a motor
connected to a reaction wheel to produce an opposing force to the bike's inclination. The
bicycle must be able to balance vertically without toppling over as one of the
requirements.

Utilizing a control moment gyro, Yuan Lam designed and developed a self-balancing
bicycle in 2012[3]. Similar to an inverted pendulum, a self-balancing robot bicycle
employs sensors to measure the roll angle of the vehicle and actuators to restore balance
as needed. As a result, the nonlinear system is unstable. There are various ways that a
self-balancing robot bicycle can be used. In this paper, we evaluate these approaches and
present our methodology, which makes use of a control moment gyro (CMG), a device
used to control the attitude of spacecraft [6]. A CMG consists of a rotating rotor that tilts
due to the angular momentum of one or more motorized gimbals. The shifting angular
momentum of the rotor creates gyroscopic precession torque, which balances the bicycle
as it tilts.

Singla, Bhatia, Bhatia, International Journal of Engineering Applied Sciences and

Technology, 2021,[4] "A LITERATURE REVIEW ON SELF BALANCING IN
LINE TWO-
WHEELER (BI-CYCLE)" Every civilization in the world has bicycles since they are a
universal product. They are widely utilized for transportation, don't cause pollution, and
are simple to make. But, while riding a bicycle, steadiness is a major worry. After being
tilted past a particular angle, a two-wheeler will inevitably fall. This essay tries to provide
a survey of the literature on the many approaches used in the past to get a bicycle to
balance on its own. Also, this article has generally classed up to four methodologies or
designs while taking into account previously published self-balancing papers. Moreover,
gyroscopes are extremely stabilizing devices that are employed in ship stabilizing
systems and aircraft flight control. In order to create a self-balancing two-wheeler
prototype that uses a gyroscope and PID (Proportional Integral Derivative) controller to
balance itself, the optimal construction technique must be determined. When the bicycle
tilts, the gyroscope will provide it the proper balance. In order to create driverless and
driver-operated automated two-wheelers with a high level of road safety and road
adhesion, the concept of a self-balancing bicycle can also be applied. Finally, this essay
also discusses the potential applications and emerging strategies for self- balancing.

Murata created Murata Boy, a well-known self-balancing robot bicycle, in 2005 [5].
To balance the bicycle, Murata Boy uses a reaction wheel within the robot that functions
as a torque generator and actuator. The response wheel consists of a rotating rotor with a
nominally zero spin rate. It has a fixed spin axis, and by varying its speed, it may produce
response torque around the spin axis. The simplest and most affordable momentum-
exchange actuators are reaction wheels. The lack of ground 3 reaction, simplicity, and
inexpensive cost are its benefits. Its drawbacks include higher energy consumption and a
limited ability to generate powerful torque.

Design and Control of a Self-balancing Bicycle Using an Electronic Linear Actuator

by Ziad Fawaz, 2019[6]. In this thesis, an electric high-speed linear actuator is used to
equip a bicycle with autonomous steering capabilities that allow for self-balancing when
the bicycle is in motion. A second-order linear system is employed to model and simulate
a bicycle using its equations of motion. The steering actuation mechanism is controlled by
a PID controller design using lean angle data obtained from a MEMS 6-axis gyroscope
and accelerometer. Below are offered experimental evaluations of the feedback system.
The use of a gain scheduling controller method enhances these experimental findings.
Further findings from tests performed at various speeds using the semi-autonomous
bicycle are provided.

PallavGogoi and colleagues used a gyroscope to design and create a miniature

model or prototype of a bicycle or two-wheeler. Their created prototype makes use of
several electromechanical parts for balancing and controlling, and it operates on the
inverted pendulum principle (also known as the gyroscopic principle). They included the
following components in their model: a steel frame, a 12V DC motor, a mild steel
disc, rubber
wheels, flat head studs, nuts and bolts in the M3 and M sizes, a hub, ball bearings, and
circlips (which power the gyroscope, not the two-wheeler wheels). In this case, they
employed a metallic disc that was positioned at the model's centre, in the place of the
rider's seat. This disc functions as a gyroscope and gives the two-wheeler the necessary
gyroscopic balancing effect. In order to obtain a better and stronger grounding force or
reaction, the model's COG (Centre of Gravity) was also lowered as close to the
gyroscope as feasible. This is preferable for producing a steady and balanced contact
between the wheels. The metallic MS (mid steel) disc mounted on the motor shaft finally
begins to spin or circle on its axis as soon as the motor is turned on, gradually increasing
its angular velocity. Which results in the inductance of the gyroscopic couple effect,
which stabilizes the body whenever the two-wheeler loses balance due to an active
gyroscopic couple by creating an opposite reactive gyroscopic couple as a result of the
gyroscopic effect. Moreover, they discovered that the model worked as expected and that
the gyroscope was in absolute rolling motion about the spin axis after a few rotations of
the DC motor-connected disc, at which point the motor and frame were stationary. In
order to verify the viability of their suggested design, they also carried out graphical RPM
(Revolution per minute) analysis along with a variety of gyroscopic arrangement weights
at various motor speeds of their prototype [7].

A Jyrobike is a bicycle made by Jyrobike Limited, a London-based company that

creates small kid-sized self-balancing bicycles and toy bikes. These bicycles also
include a unique front wheel intended to demonstrate automated balancing. Here, a
unique front tire houses a rotating flywheel that is rotated at high RPMs like a gyroscope
by a DC motor propelled by a DC rechargeable battery. Moreover, the flywheel acts as a
gyroscope when the vehicle is moving slowly because it rotates much faster than the front
wheels do. It is said that this form of bicycle uses a gyro-wheel, which is really just a
basic pressed compact device that functions just like a gyroscope and hence generates the
necessary opposite balancing torques. A hub electric motor tire with an internal copper
winding and a gyro wheel are relatively comparable in terms of manufacture.

International Research Journal of Engineering and Technology, Hemashree Kakar,

"DESIGN CALCULATIONS OF A TWO-WHEELER SELF BALANCED
VEHICLE," [9] In a
system with two inline wheels, the approach of gyroscopic stabilization is demonstrated
in the current work. Mass distribution, the system's center of mass, vehicle steering to the
left or right, acceleration, and—most crucially—gyroscopic effect are the factors that
have an impact on balancing. The experiment to create the gyroscopic effect on a tiny
prototype is the subject of this paper. The vehicle prototype has two wheels and acts as a
gyroscope with rotating discs to provide a counterbalancing force (gyroscopic effect)
when it loses balance on either side. As a result, the car balances itself. Determined and
evaluated are the gyroscopic couple, the angular velocity of precession, and the balancing
couple resulting from a moment of the vehicle's weight. This paper also provides a
summary of a concept car that was created using the same principles but with an
additional function. Due to the presence of a gyroscopic disc used in the Self- Balanced
Two- Wheeler (SBTW), even if an external force is applied to the system, the
force sensors deployed in it sense the force and develop a force of similar magnitude but
in the opposite direction, preventing the vehicle from losing its balance.

Jiarui He and colleagues created a self-balancing two-wheeler prototype using a

CMG system in their article titled "Control System Design of Self-balanced Bicycles
by Control Moment Gyroscope." Also, they used MATLAB simulations to determine a
potential feedback coefficient for the system. They primarily divided the approaches to
finding one's own equilibrium into four groups or sorts. The first approach put out was a
basic gyroscope mechanism in 1998. In 2014, a sliding mode controller (SMC) was used
to manage a CMG system, and it was discovered that this CMG produces a lot of torque
but uses a lot of energy. The second form is mass balancing, which involves swinging a
heavy ball, and while its mechanical design is straightforward, it produces relatively little
torque. The third type is accomplished by steering control, which, as was already
indicated, uses less energy but does not result in balance at low vehicle speeds. The fourth
type, which uses a reaction wheel with a quick response time but a restricted output
torque, can only be used with small-sized bicycles. Also, they created a self- balancing
prototype with a CMG system, where the CMG mechanism is mounted and comes
together at the bicycle's back seat. Now, they divided the relative motion of a bicycle into
three parts for the self-balancing model's operation: the body is thought to rotate in the x-
axis with a lean angle; the gyroscopic gimbals and flywheel are thought to rotate in the y-
axis with a precession angle; and the flywheel rotates in the z-axis. In their work, they
also made note of the MATLAB simulation matrix equations. And in the end, they came
to the conclusion that a steering control mechanism and CMG system should be combined
in order to save energy and use twin gyroscopes to lessen the effect of the vertical
needless reaction torque.
 Chapter 3 OBJECTIVE

Notwithstanding the difficulty of balancing a two-wheeled vehicle, the goal of this

project is to review and develop a conceptual prototype that might aid a bicycle rider in
balancing without otherwise altering the experience, which could be of considerable
social value. A system like this might be employed as a physical therapy aid as well as a
teaching tool. The project's goal is to create and construct a bicycle prototype that can
balance itself. The design and development of a self-balancing two-wheeler are the main
topics of this project report. Also, it is clear that the idea prototype involves an
experiment that aims to give the prototype a gyroscopic effect. In order to provide a
counterbalancing force, or gyroscopic effect, when the vehicle prototype loses balance on
either side, the prototype will be a two-wheeled vehicle with revolving discs affixed. The
car will therefore automatically stabilize.[8] Due to the presence of the gyroscopes
utilized in the vehicle, even if an external force is provided to the system, the gyro sensors
deployed in it will feel the force and will create a force of a comparable size but in the
opposite direction, preventing the vehicle from losing its balance.

Chapter 4 METHODOLOGY
CONSTRUCTION OF SELF BALANCING BICYCLE

• A 2D model sketch is created using the measurements. The parts needed for the model
are purchased with the aid of a 2D sketch.
• A lathe is used to precisely machine the flywheel, which is constructed of mild steel.
With a lathe and grinding equipment, the flywheel is finished.

• The hydraulic press machine is used to prepare the hub cover, which is composed of
mild steel. The servomotor, switch, and battery holder are afterwards fitted into slots on
the lid, and holes are drilled to allow for attachment to the wheel. For simple wheel
movement, bearings have been affixed to the center of the cover.

• A support that is attached to the wheel has the back end of a BLDC motor centered on
it. In order to reduce friction between the flywheel and the hub cover, a spring is required.

• The connector, also known as the hard fiber[9], is used to link the flywheel and the
BLDC motor. The hard fiber begins to flow when the BLDC motor is turned on, which
then aids in the motion of the flywheel.

• The hub cover and wheel are connected by nuts and bolts.

• The flywheel is powered by three 3.7V DC batteries, and the motor controller regulates
the flywheel's speed.

4.1 COMPONENTS OF SELF BALANCING BICYCLE

4.1.1 BRUSHLESS DC MOTOR
Electronically commutated DC motors without brushes are known as brushless DC
motors (BLDC motors). The synchronous motor's speed and torque are controlled by the
controller's current pulses, which in turn help power the flywheel.
A2212/13T 1000KV BLDC MOTOR

A2212/13T 1000KV BLDC MOTORSPECIFICATIONS

No. of Cells 2 - 3 Li-Poly, 6 – 10NiCd/NiMH
KV 1000 RPM/V
Max Efficiency 80%
Max Efficiency Current 4 - 10A (>75%)
No Load Current 0.5A @10V
Resistance 0.090 ohms
Max Watts 13A for 60S
Max Current 150W
Weight 52.7 g / 1.86 oz
Size 28 mm dia. x 28 mm bell length

4.1.2 LITHIUM ION BATTERY

With a lithium-ion battery, which is rechargeable, lithium ions flow between the positive
(cathode) and negative (anode) electrodes when the battery is charged and discharged.
Due to their suitability for storing large amounts of electricity, lithium-ion batteries are
utilized in a variety of applications. Compared to lead-acid batteries, lithium-ion
batteries are lighter, charge more quickly, and are more environmentally friendly
because they don't include any materials with a high environmental load. These lithium-
ion battery cells provide energy to the BLDC motor.
 18650 Li-ion 2600mAh Rechargeable Battery

ICR - 18650 3.7V 2600 mAh Lithium-Ion Rechargeable Battery Cell Specifications:
Voltage 3.7 volts
Capacity 2600 mAh
Rechargeable Yes
Battery Size Diameter- 18mm x Length- 67mm
Charging Method CC-CV
Brand Hongli ICR18650
4.1.3 SERVO MOTOR/MOTOR CONTROLLER

Up to three servo motors can be tested simultaneously using the CCPM Servo
Consistency Master/Servo Tester. It's a useful tool for servo motor testing, ESC testing,
and figuring out motor directions.

A signal can be produced by the ESC (Electrical Speed Controller) without the need for a
transmitter or receiver. With an input voltage ranging from 4.8V to 6.0V, it can produce a
1.5ms/0.5ms output signal.

CCPM SERVO CONSISTENCY MASTER/SERVO TESTER

CCPM Servo Consistency Master/Servo Tester Specifications:

 Operating Voltage: 4.8V- 6 Volts
 Operating Temperature: -40 to 800C
 Signal Output: 1.5ms±0.5ms
 Output Current: >15 mA (5 mA per berg)
 Dimensions: (46*32*17mm) L×W*H
 3X3 berg to connect 3 servo motors simultaneously
 3 modes of operations
 A knob to rotate servo manually
 Tiny box with dimensions in millimetres

4.1.4 ELECTRONIC CONTROLLER

 Electronic speed control is referred to as ESC. An electrical circuit known as an ESC is
used to modify an electric motor's speed, direction, and function as a dynamic brake.
They are most typically used for brushless motors, giving the motor a low voltage source
of 3-phase electric power created electronically. Speed controls are required for BLDC
motors, and the motor speed can be altered by altering the voltage on the armature.

BLDC ESC - Brushless Motor Speed Controller

Brushless Motor Speed Controller Specifications:

MODEL STANDARD 30A BLDC ESC ELECTRONIC

SPEED CONTROLLER
WEIGHT 23g
DIMENSIONS 45 x 24 x 9 mm (LxWxH)
CURRENT (A) 30A
FLYWHEEL

A flywheel that revolves around an axis parallel to the bicycle's frame. With this
configuration, the bicycle becomes an inverted pendulum with a fixed pivot where the
wheels contact the ground. A motor mounted on the bicycle applies a torque to the
flywheel as it tips over, creating a reactive torque that pulls the bicycle back into balance.
The bicycle could also move in a straight line with minimal to no variations because to
this design.

FLYWHEEL

Flywheel Specifications:

Mass 3 kg
Material Mild Steel
Diameter of flywheel 10 inch/254 mm
Chapter 5 EXPERIMENTAL WORK

5.1 WORKING PRINCIPLE

 The self-balancing two-wheeler is equipped with a special front wheel, i.e.,
control hub.
 Here, the control hub contains a rotary flywheel motioned by a DC motor
powered by a DC rechargeable battery, which spins a lot faster than the front
wheel rolling motion hence acting as a gyroscope.
 A switch present at the hub cover can be used to on and off the DC motor.
 When the switch is made on, three times beep sound will be occurring, indicating
that the motor is working fine and then the BLDC motor starts to run and hence
the hard fiber. The running of the hard fiber makes the flywheel to rotate, acting
as gyroscope.
 The gyroscope will produce a gyroscopic effect i.e., counter balancing force on
the prototype when an external force is applied on the system as the gyroscope
will have free axis of rotation.
 Bicycle becomes inherently more stable when it travels at higher speeds, thus fast
spinning flywheel will provide stability whilst travelling at very slow speeds.
 Hence the vehicle will not lose its balance and stabilizing the vehicle.
5.2 2D MODEL OF SELF BALANCING BICYCLE

FABRICATED MODEL OF SELF BALANCING BICYCLE

FLYWHEEL
 FLYWHEEL COVER

COMPOMENTS ATTACHED
 Picture of the complete kid bicycle with flywheel at front

SL NO TITLE SPECIFICATION
1. BICYCLE 16 INCH WHEEL BASE
2. FLYWHEEL HUB MOUNTED
3. FLY WHEEL DRIVE BLDC MOTOR 3000RPM
4. POWER SUPPLY 12V LI ION
5. HUB CAPS MS DISC
Chapter 6 CALCULATIONS

6.1 DESIGN CALCULATIONS OF FLYWHEEL

BLDC motor speed(N1) = 11000

rpm Power of motor(P)= 150W

Motor pulley (Hard fiber) diameter (D1) =

50mm Flywheel diameter(D2) = 254 mm

Using the standard equation, N1D1=N2D2, we will find out the speed of the flywheel.

N1D1=N2D2

11000 × 50 = N2 ×

254 N2= (11000 ×

50)/254 N2= 2165.35

rpm

Torque created by the flywheel (T) = (P × 60) / (2 × 3.14 × N)

= (150×60) / (2×3.14×2165.35)

= 0.6618 N-m

Torque(T) = 661.8 N-mm

6.1 DESIGN CALCULATIONS FOR BALANCING

Weight of flywheel = 3kg

Weight of hub cover =

0.5kg Weight of cycle = 6kg

Weight of Li-ion cells+ BLDC motor + servo motor+ wires+ switch + support =

500g Total weight of the system = 3+0.5+6+0.5 = 9kg

Total mass of the system(M) = 10×9.81 = 98.1N

Given Data :

Height of the center(h) = 200 mm = 0.2 m

Flywheel diameter(d) = 252 mm = 0.252 m

 r = 0.252/2 = 0.126 m

Mass of flywheel(m) = 3×9.81 = 29.43 N

Speed of flywheel(N) = 2165.3 rpm

Angular speed of disc (ω) = 226.75

rad/sec

Moment of inertia of the disc (I) =m(r2) /2

= (29.43 × 0.126 × 0.126)/2

I = 0.233 N-m2

We know that Mghsinθ=Iωωp

The highest precision speed of the disc is ωp = Mghsinθ/Iω

For the maximum tilt angle is 20 degrees, ωp = (98.1*9.81*0.2*sin(20))/(0.233*226.75)

ωp = 1.24 rad/sec

So highest required gyroscopic torque Τ = Iωωp

T = 0.233*226.75*1.24

T = 65.51 N-m2 /sec2

Chapter 7 ADVANTAGES AND DISADVANTAGES

ADVANTAGES:
• Assists elders and physically disabled individuals in travelling greater distances.

• It is compact and low-maintenance, and it's simple to keep up with.

• Environment friendly.

• If the battery is depleted, can simply use cycle normally.

• Extreme mobility and adaptability

• Can be easily assembled and dis-assembled

• Fun and reduces fear of cycling in kids, senior citizens

• This technology can be leverages for light 2 – wheelers

DISADVANTAGES:

• It makes use of more energy, batter discharges frequently

• There is no torque improvement, and battery life is limited.

• The product's price increases with increase in size of the bi-cycle

• Riding uphill with battery run- out is difficult due to flywheel weight

• Front wheel does not have tube and air, faster wear and tear due to the more weight

• Flywheel rotation sound is excessive

Chapter 8: CONCLUSION

The self-driving cycle fabricated is well suited for its target audience of ages 10 and
below. The self-balancing cycle requires no external support to remain upright.

The self-corrective pseudo force felt during the rider's forward motion as a result of the
energy in storage in the flywheel exerts a tangential force towards the inner radius of the
vehicles trajectory, reducing a level of human effort required while riding the bicycle.

Unlike traditional bicycles, the self-balancing cycle is suitable for people of all ages and
skill levels, making it an excellent option for those who are not confident in their cycling
abilities. Furthermore, its compact and lightweight design makes it ideal for urban
commuting and reducing traffic congestion.

Safety is the top priority, and the self-balancing cycle’s braking system is not hindered by
the flywheel wheel rim in any way. The cycle still has functional front brake and rear
brake.

This project has significant scope for future work:

 The cycle could easily be fitted with a built-in GPS, allowing the rider to navigate
easily while keeping track of their speed, distance, and time. This feature is
particularly useful for long-distance riders and outdoor enthusiasts.

 The flywheel could be made of a lighter material so that the center of mass of the
flywheel is approximately (more towards) at the center of the vehicle.

 The servo motor chosen could be of larger size so that more of the energy is
transferred to the flywheel.

 Self-balancing of a cycle can be tried to be achieved with a PID controller.

In conclusion, the self-balancing cycle is a notable step forward that is set to make the
way we travel move convenient. Its cutting-edge technology, ease of use, and practicality
make it the perfect choice for anyone looking for means of transportation with reduced
human effort, reduced fear of falling and having fun while doing a healthy outdoor
activity.
CHAPTER 9: REFERENCES

[1] http://www.geology.smu.edu/~dpa-www/robo/nbot/

[2]https://ijesc.org/upload/634a76b17a3a9a1b815df9f2610d913e.Design%20&%20Dev
elopment%20of%20Self-Balancing%20Bike%20using%20Reaction%20Wheel-
converted.pdf

[3] https://core.ac.uk/download/pdf/48657545.pdf

[4] https://www.ijeast.com/papers/228-234,Tesma601,IJEAST.pdf

[5]https://corporate.murata.com/en-sg/more_murata/robots/mboy

[6]https://deepblue.lib.umich.edu/bitstream/handle/2027.42/148871/MastersThesis_Fi
nalDraft%20(3).pdf?sequence=1

[7] https://www.enggjournals.com/ijet/docs/IJET17-09-03-206.pdf

[8] Wikipedia contributors. (2020, May 14). Jyrobike. In Wikipedia, The Free
Encyclopedia. Retrieved 10:53, September 13, 2020,
fromhttps://en.wikipedia.org/w/index.php?title=Jyrobike&oldid=956690959

[9] https://www.irjet.net/archives/V5/i7/IRJET-V5I7369.pdf

[10] https://www.researchgate.net/publication/
283470310_Control_System_Design_of_Self-
balanced_Bicycles_by_Control_Moment_Gyroscope