GOVERNMENT OF KARNATAKA

DEPARTMENT OF TECHNICAL EDUCATION

GOVERNMENT ENGINEERING COLLEGE

DEVAGIRI, HAVERI-581110

DEPARTMENT OF MECHANICAL ENGINEERING

Mini Project Report

On
“Self-Balancing Two-Wheeler Model Using Gyroscope”

Submitted in the partial fulfillment for the Degree of

Bachelor of Engineering
In
MECHANICAL ENGINEERING

Submitted By,

NAVEEN S BENNUR 2GO19ME026

NAVEENA K T 2GO19ME027
NIRANJAN V DESHINGE 2GO19ME029
PRAMOD HIRETANAD 2GO19ME030

Under the Guidance of,

Dr. RAGHAVENDRA C R

VISVESVARAYA TECHNOLOGICAL UNIVERSITY, BELAGAVI

2021-2022
 GOVERNMENT OF KARNATAKA
DEPARTMENT OF TECHNICAL EDUCATION

GOVERNMENT ENGINEERING COLLEGE

DEVAGIRI, HAVERI-581110

DEPARTMENT OF MECHANICAL
ENGINEERING

Certificate
This is to certify that the Project report entitled “Self-Balancing Two-Wheeler
Model Using Gyroscope” carried out by NAVEEN S BENNUR (2GO19ME026),
NAVEENA K T (2GO19ME027), NIRANJAN V DESHINGE (2G019ME029),
PRAMOD HIRETANAD (2GO19ME030), Bonafide students of Government
Engineering College, Haveri in the partial fulfillment for the award of Bachelor
of Engineering in Mechanical Engineering of the Visvesvaraya Technological
University, Belagavi during the year 2021-2022. The Project report has been
approved as it satisfies the academic requirements in respect of a project
prescribed for the said Degree.

……………. …………… ……………… ..…………….

….
Guide Co-ordinate HOD Principle
Dr.Raghavendra C R Dr.V.S.Patil Dr. Arun K V Dr. Jagadish Kori

Examiners:

1.

2.

3.
 ACKNOWLEDGEMENT
The satisfaction that accompanies the successful completion of any task would be incomplete
without the mention of the people who make it possible, whose constant guidance and encouragement
crown all the effort with success.

First and foremost, we would like to place on record our heartiest gratitude to our guide Dr.
Raghavendra C R, Assistant Professor, Department of Mechanical Engineering, Government
Engineering College, Haveri for having us under the guidance and helped us with their valuable
suggestions and excellent guidance.

Though it may appear that the following exposition is a monotonous boat of an unusual
acknowledgement assert beyond the confines of the simple sense of the owned gratitude to pass on our
deep-felt thanks on our beloved Dr. Arun K V, Head of the department, Department of Mechanical
Engineering, Government Engineering College, Haveri.

Our sincere thanks to Dr. Jagadish Kori, Principal, Government Engineering College, Haveri,
who is the constant source of inspiration throughout the academics.

We express our deep gratitude to our institute Government Engineering College, Haveri,
Which provide an opportunity and platform for fulfilling our dreams and desire to reach our goal.

TITLE
NAVEEN S BENNUR 2GO19ME026
NAVEENA K T 2GO19ME027
NIRANJAN V DESHINGE 2GO19ME029
PRAMOD HIRETANAD 2GO19ME030
Self-Balancing Two-
Wheeler Model Using
Gyroscope
 CONTENTS
CHAPTER 1
INTRODUCTION…………………………………………….…….…01

1.1 DESIGN OF SBTW [self-balancing two-wheeler] …………………………........

1.2 DESIGN OF SBTW [self-balancing two-wheeler] ................................……….
1.3 IMPORTANCE OF GYROSCOPE.……..……...................................................

CHAPTER 2
LITERATURE SURVEY………………………………………….….

CHAPTER 3
OBJECTIVES AND METHODOLOGY……………………….…….

3.1 OBJECTIVES………………………………………………………................. 3.2

METHODOLOGY…………………………………………………………....… 3.3
WORK PLAN………………………………………………………………...…
 Self-Balancing Two-Wheeler Model Using Gyroscope

[Abstract]
Self-balancing otwo-wheeler using gyroscope finds its application in the field of road
safety. The need for a system to balance a two-wheeler irrespective of its motion is on the high.
Gyroscopes find its application in other stabilizing systems such as stabilizers in ship and in-
flight control of aircrafts. We have incorporated the same principle to a two-wheeler. In the
current study we have designed a self-balancing two-wheeler using gyroscope that consist of a
flywheel, a floorboard, battery, 1 DC Motors, 2 sets of bearings, 2 sets of wheels and a voltage
control unit. The 2D sketch of the model was prepared. Then the model was designed in 3D
using Sketch Up and SOLID works. To make it more economic and efficient, we had
introduced a floorboard using Aluminum Composite Panels (ACP sheets) are super flexible &
can bend, fold & turn easily. Then the gimbal frame is bolted to the floorboard and the flywheel
using polycarbonate plastic is attached to it. Fabrication of the two-wheeler was completed and
tested for stability. By incorporating the principle of gyroscope, the two-wheeler was made to
self-balance when it is subjected to a tilt, Stabilizing plays a significant role to help in avoiding
most of an accident in two-wheelers. Gyroscope thus helps to develop the counteracting forces
against the tilting force. The safety aspects of the vehicle are increased by incorporating a
gyroscope mechanism in the two-wheeler. The torque generated by the gyroscope must be
equal to the imbalance torque acting on the vehicle for the dynamic stabilization of the vehicle.
The main principle is about generating the counteracting torque to help stabilize the tilting
vehicle. The design for the gyroscope was thus completed, and then designing, modelling and
fabrication were done to successfully experiment. The stabilizing effect is thus generated by
the rotating gyroscope mounted on the vehicle.

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1 [INTRODUCTION.]

Our project focuses on the concept of a self-balancing two-wheeler car. We aimed to

design a two-wheel car which will be self-balanced by using the gyroscopes in it. The project
also details about the model making for testing of balancing a two-wheeler which can be
designed like a car to increase the safety features and comfort conditions like two-wheeler.
Gyroscope is nothing but the rotating disc which will counteract the unbalancing forces acting
on the vehicle. In this project, we have used two discs which create the gyroscopic effect
generating counter reacting couple when the vehicle unbalances on either side. The drive
sources to the gyro are directly given by the motor. The gyroscopes are needed only when the
speed of the vehicle is standing still, for the rest of the period when the vehicle is in motion it
balances itself. The applications of the gyroscopes are vast, thus incorporating this in two-
wheelers will make it safer. Weight and speed are the two main factor which guides the actual
performance and balancing of the gyroscope. For designing the gyroscopes several factors are
considered and based on that the various equations are derived. The speed calculations for the
gyroscope are needed to find the rpm of the disc as it varies depending on the weight on the
vehicle. After designing the gyroscope, the test has been done to study the stability of the
system and for the simulation results. Finally, we discussed a scaled model designing and
testing.

On the contrary even though motorcycles have been manufactured for so long, they
tend to show damped oscillatory behavior and go unstable under certain conditions namely
high speed, rider error, faulty part etc. The increase in number of accidents due to this unstable
nature is on the high. The development of a system is necessary to overcome this problem
which can stabilize the motorcycle at any worst-case scenario. However, the safety features
introduced in the two-wheeler industry has remained the same for over the past two decades.
A rider is very much vulnerable to mishaps and accidents of the road. Statistics show at least
200 accidents related to motorcycles happens every day according to the Ministry of Road
Transport and Highways.

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 Self-Balancing Two-Wheeler Model Using Gyroscope

The loss of balance of the rider may be due to -

1. varying road conditions

2. negligent and rash driving

3. drunk driving

4. speeding and

5. overloading

found to be the major reasons for these accidents. Our project enhances the two-wheels
with a safety feature where a rider can remain balanced at all times subjected to varying tilts
and vibrations. This is achieved by using the principle of a gyroscope in a two-wheeler
Designing and fabricating a motorcycle that is self-stabilizing was always challenging. In the
present-day market, there are a few motorbike models that are self-stabilizing but are either not
very efficient or is too costly. As our aim is to design and fabricate a self-stabilizing two-
wheeler that is both efficient and cheap, we always considered the simplest plain design and
components as our aim is to design and fabricate a self-stabilizing two-wheeler that is both
efficient and cheap,
we always considered the simplest plain design and components

• They make smaller stabilized system

• They impart greater stabilization
• They are correct and easy to understand

Gyroscopes are the real-world manifestations of the law of conservation of angular

momentum. They spin and tip and process due to change in the torque applied with respect to
the spin axis. Using the right-hand rule, one can easily find the direction of torque. Curling
your fingers over your fist in the direction of the spin, the thumb will show the direction of the

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 Self-Balancing Two-Wheeler Model Using Gyroscope

torque.

Gyroscopes also show smooth balancing and exact analogue readings as they adhere
completely to the conservation of angular momentum i.e., they conserve the size as well as the
direction in the absence of an external torque. The spin axis is always moves in the same
direction as that of the applied torque. The gyroscope can be used to keep physical stability
when the input and output are perpendicular to the spin axis. It is to be noted that gyroscope is
an inertial system. The gyroscopic sensor gives an output with reference to its original position
and this information is then fed to the control system which is then used to keep a desired level.
This is an effective method to self-balance the two- wheeler. The increased rate of accidents
and need for safety features have led us to formulate the problem. The problem identified for
our project is to design and fabricate a gyroscopic balancing two-wheeler which is stable and
self-balancing.

1.1 DESIGN OF SBTW [self-balancing two-wheeler]

A 3D model sketch is made according to the dimensions in Solid works. Accordingly, the
components required for the model were bought and tested. The base is made from the mild
steel and slots were cut to accommodate the wheels according to the 3D model. Round edge
rubber wheels are fitted to the steel base at the bottom, the holes in the frame are drilled to fit
the gimbal of the gyroscope assembly; the DC motor supported on a U bracket is placed on the
gimbal. The only pre-requisite for this setup to work is that the mass distribution, the mass
should be dominant on the upper side (setup should be top heavy) of the gimbal. The center of
gravity is thus just above the gimbal axis, stainless steel disc used as gyroscope are fitted to the
shaft of the motor [1].
The DC motor is bolted to the U-bracket due to which it remains intact with it and the
shaft of the DC motor is fixed to a steel hub which has holes drilled on its top flat surface to be
used to finally fix the gyroscope disc by bolting it with the hub. The material used in making
the gyroscope disc, hub, steel frame, and U-bracket is Mild Steel. To finally assemble the entire
model, many sizes of nuts and bolts were used. One important design consideration that was
made in this model is that the gyroscope disc should be freely suspended in the U-bracket

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 Self-Balancing Two-Wheeler Model Using Gyroscope

connected to the steel frame

1.2 GYROSCOPE
What is a Gyroscope?
A gyroscope is need as: -- The device has a spinning disc that is mounted on the base
such that it can move freely in more than one direction so that the orientation is maintained
irrespective of the movement in the base

Design of Gyroscope A gyroscope can be considered as a massive rotor that is fixed on the
supporting rings known as the gimbals.

The central rotor is isolated from the external torques with the help of frictionless bearings
that are present in the gimbals. The spin axis is defined by the axle of the spinning wheel. The
rotor has exceptional stability at high speeds as it supports the high-speed rotation axis at the
central rotor. The rotor has three degrees of rational freedom A gyroscope is a spinning wheel
or disc in which the axis of rotation is free to assume any orientation by itself. While rotating,
the orientation of this axis is unaffected by tilting or rotation of the mounting, according to the

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conservation of angular momentum. Because of this, gyroscopes are useful for measuring or
maintaining orientation. Gyroscopes are also based on other operating principles, 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.

1.3 IMPORTANCE OF GYROSCOPE

Applications if gyroscopes include inertial navigation systems where magnetic
compasses would not work (as in the Hubble telescope) or would not be precise enough (as in
intercontinental ballistic missiles), or for the stabilization of flying vehicles like radio-
controlled helicopters or unmanned aerial vehicles, and recreational boats and commercial
ships. Due to their precision, gyroscopes are also used in gyro theodolites to support direction
in tunnel mining. Gyroscopes can be used to construct gyrocompasses, which complement or
replace magnetic compasses (in ships, planes and spacecraft, vehicles in general), to help in
stability (Hubble Space Telescope, bicycles, motorcycles, and ships) or be used as part of an
inertial guidance system
A. Gyroscope Principles Rigidity is the ability of a freely rotating mass to support its plane
of spin when any external force is applied to it.
1) First Law of Gyroscope: If a rotating wheel is so kept as to be free to move about any axis
passing through its center of mass, its spin axis will remain fixed in space.

2) Second Law of Gyroscopes: When a torque acts on a spinning mass with an axis
perpendicular to that of spin, then the latter will process about an axis perpendicular to both axes,
at an angular velocity,

Ω, = T/I ω.

Gyroscopic Effects: Vector Aspects of Angular Momentum

Angular momentum is a vector and, therefore, has direction as well as magnitude.

Torque affects both the direction and the magnitude of angular momentum. What is the
direction of the angular momentum of a rotating object like the disk in Figure 1 The figure

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 Self-Balancing Two-Wheeler Model Using Gyroscope

shows the right-hand rule used to find the direction of both angular momentum and angular
velocity. Both L and ω are vectors—each has direction and magnitude. Both can be represented
by arrows. The right-hand rule defines both to be perpendicular to the plane of rotation in the
direction shown. Because angular momentum is related to angular velocity by L = I ω, the
direction of Lis the same as the direction of ω. Notice in the figure that both point along the
axis of rotation.

Figure 1.
Figure (a) shows a disk is rotating counterclockwise when viewed from above. Figure (b)
shows the right-hand rule. The direction of angular velocity ω size and angular momentum L
are defined to be the direction in which the thumb of your right-hand points when you curl your
fingers in the direction of the disk’s rotation as shown in B. Gyroscopic Effect
The gyroscopic effect is widely used in air planes and ships, where in always external
disturbing couple is acting on the vehicle. Thus, for the stability of such vehicles it is essential
to neutralize the effect of external disturbing couple which can be done by applying equal and
opposite couple. Accordingly, to generate equal and opposite reactive couple it is essential to
vary the magnitude and direction of velocity of precession. The active gyroscopic couple
represents rate of change of angular momentum, and this couple must be applied to disc across
the axis of spin to cause it to process in the horizontal plane. When the axis of spin process
itself or is made to process the shaft on which the disc is mounted applies reactive gyroscopic
couple. This reactive gyroscopic couple thus produced by the gyroscope is equal to the external
disturbance but it is in opposite direction. Thus, this couple neutralizes the effect of disturbance
and stabilizes the object.

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 Self-Balancing Two-Wheeler Model Using Gyroscope

(Active couple) = - (Reactive couple)

Types of Gyroscope
The following are the three types of gyroscopes
Mechanical gyroscope

Optical gyroscope

Gas-bearing gyroscope

Mechanical Gyroscope The working principle of the mechanical gyroscope is based on the
conservation of angular momentum. This is also one of the most known gyroscopes. The
mechanical gyroscope is dependent on the ball bearing to spin. These gyroscopes are replaced
with modern forms of gyroscopes as they are noisier. They find applications in the navigation
of large plane and missile guidance

Optical Gyroscopes These gyroscopes are dependent on the ball bearing or the rotating
wheel. They are also not based on the conservation of angular momentum. Optical gyroscopes
use two coils of optic fiber that are spun in different orientations. Since there is no movement
in the optical gyroscopes, these are durable and find applications in modern spacecraft and
rockets
Gas-bearing gyroscopes the rotor is suspended by pressurized gas, reducing the amount
of friction between moving parts. These types of gyroscopes were used by the NASA in the
development of the Hubble Telescope. According to NASA, the gas-bearing gyroscopes are
much quieter than other forms of gyroscopes and have greater accuracy. In fact, NASA says
the gyroscopes aboard the Hubble Telescope are among the most correct in the world

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2 LITERATURE SURVEY

Motorcycles have existed for almost a 100 years and bicycles even longer yet we fail
to fully understand the forces acting on it and how they work together to keep a bicycle upright
once it is non-stationary. When the bike is in motion, disturbances can occur wherein which at
high speeds the bike may experience low frequency weaving. On the other hand, at low speeds
the bike undergoes high frequency wobbles

1. The concept of gyroscope can be implemented in the optimizing the control

parameters to obtain a smooth flight control even for a two-degree freedom
helicopter. The disturbances incurred to the system during flight may be because
of the inertial forces of the chassis and inaccuracies in control parameters
implemented in the electronic control systems

2. It can also be used to identify configurations that can help us obtaining most
stability for a self-balancing bicycle, the simulation of self-balancing bicycle
using a single gyroscope system and double gyroscope system (moving in the
same direction) was done to find the optimal values for turn rates

3. The centripetal force experienced by riders taking turns can be balanced by

leaning slightly toward the center of the turn. The more the velocity more is the
rate of lean. In certain cases, the mass of the object (such as a pillion rider) and

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 Self-Balancing Two-Wheeler Model Using Gyroscope

the trail of the front wheel might disturb the stability and will then show unstable
roll behavior. In such cases, applying torque to the handle bars can be extremely
helpful

4. The axis of rotation if perpendicular to the direction of motion causes a fictitious

force called the Carioles force. It causes transfer of energy along frames of
reference. The LaGrange method can be used to arrive at a standard frame of
reference thereby simplifying the analysis involved, and to manipulate roll angle
for Unmanned vehicles

5. But when using lean to steer mechanism it is crucial the resistance to the handle
bar be accentuated as to allow discrete steps in bending forward/backward by the
rider failing to do so might result in faulty steering mechanisms that can seriously
under-perform

6. A PID controller can be used to measure displacements of the CMG, the vehicle
and angular velocities, which then can be fed to the control input. The simulations
then will show a two second transitioning period which can be reduced by tuning
but doing so will generate oscillations. Practical testing does not seem to agree
completely due to inaccuracies in gimbal motor encoding

7. DC motors are used as they have least starting time and also high initial torque
which are required for smooth transition response and quick stabilization of
vehicle. Also, efficiency and light-weight of an electric motor puts it ahead of all
other actuators. And thus, can be used to study and fabricate a self-balancing two-
wheeler and to experiment the different effects of torque it has on the flywheel

8. Expensive electronic used in bikes these days can be eliminated by using lean-to-
steer mechanism instead of electronic guidance. The operation requires a rider to
lean to direction of the turning until the turning is complete. This cuts down the
manufacturing cost and opens self-stabilizing vehicles like Segway PT to the
Indian market so that use for it in industries and personal use can be justified

9. A stationary bike can be balanced by applying torque in the opposite direction

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 Self-Balancing Two-Wheeler Model Using Gyroscope

i.e., controlling the handle of the bike. This can be done by using counter-rotating
wheels, mass distribution, etc.

10. The tilt angle measured by a gyro integrated with accelerometer sensors can be
used to give the angle of tilt as output with least error than when used
independently. A PID controller can be employed to remove the noise from the
system and to dampen wobbles. Since real time data output is sent to the
microcontroller

11. A flywheel can be compared to that of a capacitor in the sense it stores rotational
energy and releases it after certain specified rotations. At instances of high rpm,
the flywheel can deform while at low rpm it would not give the two-wheeler the
required “lift” to stabilize. Mild steel iron can be used as it is resistant to
deformation under the range of moment of inertia needed

12. The all-silicon single-wafer technology method can be used for the fabrication
of a high aspect ratio (20:1) poly-silicon ring gyroscope. Vertical electrodes can
produce of electrically isolated nature with various air size gaps ranging from
sub-microns to tens of microns. Using HARPSS technology supplies features that
can reach high performance. Electronic tuning is an attractive feature of the
vibrating ring gyroscope. Any frequency mismatch between the sense and drive
modes that occur during the fabrication process can be electronically
compensated using the tuning electrodes around the structure

13. A Piezoelectric vibrating disc gyroscope based on the Carioles system, which
requires lesser power consumption, short start up time and low operational noise
can also be used. An assembly made using stepper motor can be used to confirm
the piezoelectric vibrating gyroscope. There is a transfer of energy from drive
mode to the sense mode during operation and this transfer of energy supplies a
measure of the applied rotation rate

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14. Gyroscopic equations can also be employed for the design and fabrication of seat
less electric unicycle. The vehicles are driven by a brush-less DC motor checked
by a micro-controller. The main advantages of such a unicycle are good efficiency
and pollution control. DC Motors of brush-less types are found to have better
weight, precise and accuracy control alongside with good firm response. Overall,
they have high dependability, maintenance free and greater efficiency. Instead of
standard 12v batteries, Li-ion batteries were used which are very efficient and
supplies a good aid to the motor

o In the current study we have designed and fabricated a self-balancing

two-wheeler which is stabilized with the help of a gyroscope. Study was
done to check the flywheel’s motion about the gimbal frame. A detailed
study was focused on the ideal placement of the rotor and flywheel to the
frame. The study has been done by taking many factors into consideration.
The mass of flywheel and the speed of rotation was varied to obtain a best
result. Thus, a stabilized model of gyroscopic stabilized two-wheeler was
made.

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3 PROJECT METHODOLOGY

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Fig 1: Flow chart of Methodology

Views
2D Modeling of Two Wheeler:

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Fig 2:2D Sketch of a two wheeler

3D Views :

Fig2:Top view of two wheeler in 3D

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 Self-Balancing Two-Wheeler Model Using Gyroscope

Isometric View:

Fig 3:Isometric view of two wheeler in 3D(Isometric view)

4 CALCULATIONS AND DIMENSIONS OF THE MODEL

TWO WHEELER

Thickness 0f the fly wheel : 0.004m

Radius of the fly wheel : 0.06m
Diameter of the fly wheel : 0.12m
RPM of the fly wheel : 2900 -3400 RPM
Hole diameter of the fly wheel : 0.015m
Weight of the fly wheel : 0.06 kg
Total weight of the fly wheel including motor : 0.13kg

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5 DC MOTOR
DC supply : 6V -12V
Weight of the DC motor : 0.07kg
Shaft of the DC motor : 0.0015m
Diameter of the DC motor : 0.023m
Length of the DC motor : 0.03m

6 TWO WHEELER BIKE WHEEL

Radius of the wheel : 0.07m
Weight of the total body : 0.98kg

7 TO FIND THE REACTIVE GYROSCOPIC COUPLE

C = I* ώ*ωp
Where,
C = Reactive gyroscopic couple
ώ = Angular velocity
ωp= Angular velocity of precision
I=Moment of inertia

MOMENT OF INERTIA
I = M *K2
Where,
M = mass
K = mass of the fly wheel

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I = 0.13*[0.06/2]2
I = 1.17*10-4kgm2

ANGULAR VELOCITY

ω = 2*ᴨ*N/60
[N approximate is 3000RPM]

ω = 2*ᴨ*3000/60

ω =314.2rad/s

ANGULAR MOMENTUM

L= I *ω
L = 1.17*10-4*314.2
L = 0.03676kgm2/s

CHANGE IN MOMENT OF INERTIA

I' = M*R2/2
I' = 0.13*0.062/2
I' = 2.34*10-4kgm2/s

C*HANGE IN ANGULAR MOMENTUM

L = I'*ω'
ω' = L/I'
ω' = 0.03676/2.34*10-4

ω'= 2*ᴨ*N'/60
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N' = ω'*60/2*ᴨ
N' = 157.09*60/2*ᴨ
N' = 1499.90RPM ~1500RPM

ANGULAR VELOCITY OF PRECISION

ωP = m*g*r/I*ω
ωp = 0.98*9.81*0.06/1.17*10-4*314.2
ωP = 15.691rad/s

REACTIVE GYROSCOPIC COUPLE

C = I*ω'*ωP
C = 1.17*10-4*157.1*15.691
C = 0.288471kgm2/s

1. FLOORBOARD

Table 1. Specifications of the floorboard

FLOORBOARD CHARACTERISTICS ABC FLOORBARD
1.Material Aluminum Composite Plane
2.Thickness 3mm
3.Length 390mm
4.Breadth 90mm

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2. BATTERY
Table 2.Specifications of the battery
Battery Characteristics ABC Battery
1.Battery type HIW Battery
2.Voltage 9v
3.Maintenance type Free
4.Dimensions ( W x H) 25mm x 45mm
5.Weight 200gm
6.Terminals Silver-Coated copper terminals

3. A DC MOTOR
Table 3.Specifications of the DC motor
Characteristics CSES DC Motor
1.Motor Type DC-Motor M14
2.DC SUPPLY 6v – 12v
3.RPM 3000RPM
4.Motor Diameter 24mm
5. Motor Length 26mm

Conclusions

A self-stabilizing gyroscopic two wheeler was designed and fabricated. The model is able to
stabilize itself under 2500rpm supplied by the DC Motor to the flywheel. In the course of this
project suitable frameworks were taken into account. The most suitable frame is that of a single
axis on the ends of which are the wheels and perpendicular to this is the spin of the flywheel.
This was found to be the most optimum design in terms of vibration and effectiveness. The
design of the gyroscopic stabilized two-wheeler was made and was analyzed in abacus
software. The area where the most amount of stress developed was found to be around the axis
of rotation of the flywheel. It was also found that the flywheel mounted perpendicular to the
axis of rotation of the moving wheels provides the required gyroscopic action to maintain a
plane of balance. Experimental results have shown that when the flywheel achieves a speed of
3000 rpm. The theoretical calculation of the speed and experimental results were compared
and studied. The experimental results were found to be in close proximity to that of the
theoretical calculations. The gyroscopic effect created by the flywheel rotating at 3000 rpm or
above generates enough angular momentum to stabilize the two wheeler prototype.

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Scope for Future Work

• The flywheel can be made more compact and concealable to accommodate the existing
structure and chassis of motorcycles
. • Accelerometers can be implemented to have a refined and real time input of the position of
different segments of chassis. The feedback data thus generated can be used to modulate the
flywheel to utmost accuracy
• Powerful high speed torque motors can be used for smooth operation even under extreme
terrain.
• The theoretical calculations can be further improved by comparing it to other gyroscopic
devices such as systems used in ship stabilizers and flight control.
• The control properties of the two wheeler can be further studied by comparing the
performance of mechanical feedback system to that of a digital feedback system such as e-
gyros. • Simulations for a full scale two wheeler can be performed and the results from scaled
model two wheeler can be analyzed.

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