Self-Stabilizing Autonomous Bicycle

Asian Institute of Technology
School of Engineering and Technology
Thailand

A project submitted in partial fulfillment of the requirements for the
degree of Bachelor of Science in Engineering in
Mechatronics Engineering

This project involves the design and development of a self stabilizing bicycle. The control
method that I used in this project to achieve balancing was a fixed axis reaction wheel along
the bicycle. The reaction wheel was utilized to control the bicycle robot’s stabilization by
controlling the speed and the direction of rotation.Several PID loops were used to control
the force generated by the reaction wheel. Different PID loops were executed according to
different states of the bicycle to achieve nonlinear control of the bicycle. This technique
will indeed maintain the balancing of the robot bicycle with very low power consumption.
Final analysis of angular acceleration, motor torque, and power consumption of the reaction
wheel was made using Solidworks motion analysis for input data through an encoder. For
this project, a small bicycle was mechanically designed and made to achieve stabilization
using the control mechanism mentioned

Видео Self-Stabilizing Autonomous Bicycle канала Shameera Dissanayaka