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 Engineering, PES University, Bangalore, for providing us with the
opportunity to prepare the project, facility needed and for his support to carry out my
work.
 
I would like to express my deep sense of gratitude to Dr. Jyothiprakash K. H., Assistant
Professor, Department of Mechanical Engineering, PES University, Bangalore, for his
encouragement, guidance and kind supervision 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 gratitude 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.
 
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 support 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 stabilisation 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 stabilising wheel (Gyroscope Approach).

Every civilization in the world has bicycles since they are a universal product. They are
widely utilised 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 stabilising tools that are utilised for aircraft flight control and
ship stabilising systems. Three techniques can be used to balance a two-wheeler:
balancing with rotating discs, balancing with a flywheel, and balancing with a stabilising
wheel (Gyroscope Approach).

Since gyroscopes are utilised in other stabilising systems like ship stabilisers and aircraft
in-flight control, they can significantly contribute to the stabilisation of two-wheeled
vehicles and gyroscopically stabilised 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-wheeler using a 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 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.
Table of Contents
Chapter 1 INTRODUCTION..................................................................................................................... v

Chapter 2 LITERATURE SURVEY............................................................................................................ vi

Chapter 3 OBJECTIVE............................................................................................................................ xi

Chapter 4 METHODOLOGY................................................................................................................... xi

Chapter 5 EXPERIMENTAL WORK...................................................................................................... xviii

Chapter 6 CALCULATIONS................................................................................................................... xxi

Chapter 7:CONCLUSION..................................................................................................................... xxii

Chapter 8 ADVANTAGES AND DISADVANTAGES................................................................................ xxiii

CHAPTER 9: REFERENCES................................................................................................................... xxv

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 physical therapy for the development of
balance, power, endurance, and synchronisation, they have evolved into an
indispensable part of human life over time. So, the most fundamental and
straightforward illustration of the employment of wheels and gear trains is a bicycle.
Even while most people consider riding a bicycle to be a pretty simple task, this may 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 drops below its actual and theoretical point of fall. 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 centre line, pedalling 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 pedalling,

lateral instability is more straightforward to understand and control because of its
relatively static and unchanging nature. Also, because bicycle tyres 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 tyres 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 stabilisation are as follows:

They give more stabilisation and provide a smaller stabilised 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 counterbalancing
force, or gyroscopic effect, when it loses balance on either side. As a result, the car
balances itself. Due to the presence of two gyroscopes utilised 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 analysed 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 motorised
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 utilised 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 stabilising devices that are employed in ship stabilising
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 stabilises 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 tyre 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 tyre with an internal
copper winding and a gyrowheel 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 stabilisation is demonstrated
in the current work. Mass distribution, the system's centre 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 stabilise. Due to the presence of the gyroscopes
utilised 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
4.1 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 centre of the cover.

• A support that is attached to the wheel has the back end of a BLDC motor centred 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 fibre, is used to link the flywheel and the BLDC
motor. The hard fibre 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.

4.2 COMPONENTS OF SELF BALANCING BICYCLE

4.2.1 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

4.2.2 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
utilised 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

4.2.3 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

4.2.4 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

4.2.5 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.

5.3 2D MODEL OF SELF BALANCING BICYCLE

FABRICATED MODEL OF SELF BALANCING BICYCLE

FLYWHEEL
 FLYWHEEL COVER

COMPOMENTS ATTACHED
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(r^2) /2

= (29.43* 0.126 * 0.126)/2

I = 0.233 N-m^2

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: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 is felt during the rider's forward motion
movements as a result of the flywheels energy automatically adjusts the
wheels' balance, making it incredibly easy to ride.

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.

The cycle's advanced technology also includes 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.

Safety is the top priority, and the self-balancing cycle’s braking system is not
hindered by the flywheel wheel rim in any way.

In conclusion, the self-balancing cycle is a game-changer that is set to

revolutionize the way we travel. Its cutting-edge technology, ease of use, and
practicality make it the perfect choice for anyone looking for a stress-free,
safe, and enjoyable riding experience.

Chapter 8 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, you can simply use cycle normally.

• Extreme mobility and adaptability

DISADVANTAGES:
• It makes use of more energy.

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

• The product's price increases.

• Riding uphill when the battery runs out is difficult owing to the weight of the bike due
to the flywheel configuration.

SL NO TITTLE 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
6.
7.
CHAPTER 9: REFERENCES
[1] http://www.geology.smu.edu/~dpa-www/robo/nbot/

[2]https://ijesc.org/upload/634a76b17a3a9a1b815df9f2610d913e.Design%20&
%20Development%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_FinalDraft%20(3).pdf?sequence=1

[7] Gogoi, P., Nath, M., Doley, B. T., Boruah, A., & Barman, H. J. (2017)`. Design and
Fabrication of Self Balancing Two Wheeler Vehicle. In International Journal of
Engineering and Technology (IJET). (pp.2051 – 2058).

[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] He, J., & Zhao, M. (2015). Control system design of self-balanced bicycles by control
moment gyroscope. In Proceedings of the 2015 Chinese Intelli-gent Automation
Conference (pp. 205-214).