Balancing A Bicycle Using PID Control

Project Title

Balancing A Bicycle Using PID Control

Project Area of Specialization Mechatronics EngineeringProject Summary

This project uses a Control Moment Gyroscope (CMG) controlled using a PID Controller in order to balance a still-standing bicycle prototype.

CMG uses a flywheel rotating at a specific RPM, at a certain angle, to generate a high precession torque and maintain equilibrium about the vertical axis (tilt angle).

During the modeling phase, equations were derived for the bicycle, gyroscope, and flywheel. Control system techniques were then used in order to linearize the non-linear system of equations, and then a transfer function was established to develop PID control for the gimbal angle with respect to the vertical tilt angle of the prototype using feedback from a tilt sensor installed on the main body.

Project Objectives Objectives:

• To balance a stationary unmanned bicycle using the PID control system technique. We found several ways to do this, out of which we chose the Control Moment Gyroscope (CMG).
• To develop an understanding of PID control and apply it on a real world problem.
• To model a mechanical system and control it electronically.
• To carry out supporting experiments in order to develop an understanding of the concepts used in our project.

Project Implementation Method Breakdown and Methodology:

1. Research and Study

2. Experiment 1: PID Control

3. Review and study of balancing mechanisms

4. Selection of best mechanism

5. Modelling & Simulation

6. Experiment 2: Mechanical Gyroscope

7. Assembly of Bicycle with Gyroscope

8. Testing and Troubleshooting

Benefits of the Project Benefits and Applications:

This project can be further developed to create a manned self-balancing bicycle which would be beneficial for disabled people, as well as people who are unable to balance bicycles by themselves. This is also beneficial for children who are learning how to ride a bicycle.

This project is also beneficial because it helps to understand the Control Moment Gyroscope (CMG) which is used in spacecraft altitude control systems.

Moreover, this project helps to understand the use of PID Controllers which is being vastly used in the industry to control different process variables.

Technical Details of Final Deliverable Final Deliverable:

The final product will be a prototype representation of the bicycle consisting of the following 2 assemblies: 

1. Bicycle Body
2. Control Moment Gyroscope

The bicycle body will be a frame consisting of two wheels whereas CMG will contain a flywheel of uniformly distributed density concentrated at the edges, coupled to a DC Motor providing constant RPM to the fly wheel assembly. The bracket holding the flywheel assembly will be coupled with another motor (servo) to control the gimbal angle. Feedback for PID control will be provided using ADXL 335 sensor. The arduino microcontroller will be used.

Final Deliverable of the Project HW/SW integrated systemCore Industry TransportationOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	56800
DC Motor	Equipment	2	3500	7000
Servo Motor	Equipment	1	3000	3000
Flywheel	Equipment	1	12000	12000
Bicycle Prototype Body	Equipment	1	8000	8000
Gyroscope Assembly	Equipment	1	8000	8000
PCB Designing	Equipment	1	3000	3000
Resistors/Wires/Heat Shrink/Connectors/Breadboards/etc.	Equipment	1	5000	5000
Motor Drivers	Equipment	1	1500	1500
Power Supply	Equipment	1	2500	2500
Arduino Microcontroller	Equipment	1	3500	3500
ADXL335 Tilt Sensor	Equipment	1	1000	1000
Stationery	Miscellaneous	1	500	500
Printing	Miscellaneous	1	1500	1500
Compact Disks (Storage)	Miscellaneous	1	300	300