Bachelor of Engineering Mech. project Self-Stable vehicles

1. Gyroscopic Stabilization of Unstable Vehicles
Presented by,
Parth Patel (130140119061)
Parth Shah (130140119060)
Tejas chaudhari (130140119105)
College Group No.: 5
GTU group ID: 64177
Internal Guide: Ratnesh T. Parmar
HOD: A. J. Sheth
Laid in,
Government Engineering College, Bharuch (under GTU)
An UDP Project Presentation on

2. What is Gyroscope?
As shown in figure, Gyroscope is a device consisting of a wheel, rotor, or disc mounted on
shaft so that it can spin rapidly about a spin axis which is free to alter directions.
If a torque is applied to the spin axis, the orientation of the axis is unaffected by tilting of
the mounting, according to the law of angular momentum conservation.
Implements:
Gyroscopes can be used to provide stability or maintain directions in navigation systems,
automatic pilot planes, and stabilizers.
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3. Yaw, Pitch and Roll effect
• Pitch is the up/down rotation of a vessel about its lateral/Y (side-to-side) axis.
• Roll is the tilting rotation of a vessel about its longitudinal/X (front-back) axis.
• Yaw is the turning rotation of a vessel about its vertical/Z (turning left-right) axis.
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4. What is precession?
Precession is a change in the orientation of the rotational axis of a rotating body. In
other words, if the axis of rotation of a body is itself rotating about a second axis, that
body is said to be precessing about the second axis.
Precision follows the right hand thumb rule.
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5. Precession
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6. What is reactive gyroscopic couple
When you have a rotating inertia
(such as the propeller on an aircraft)
and you force it to yaw to one side,
then there will be a gyroscopic
reaction torque with a nose-up or
nose-down tendency depending on
the direction of rotation and the
direction of turn.
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7. Our Project
QUESTIONS:
 How we apply law of precession in our project?
 What we have changed, in prior model?
 How we get a feasible solution?
 What we are tenting to do?
 Which are our components?
 What about advantages?
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8. Yaw, Pitch and Roll effect
in Two Wheeled Vehicle
Definitions are same, hence they never changed.
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9. A prior Concept
• As gyroscopes are used in stabilizers, we can use it in in-line road vehicle in
order to stable it vertical upside.
• The basic concept of using gyroscopes is to maintain a two-wheeled vehicle
upright by using flywheel to generate counter-torque is known as precession.
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10. A new Concept
• Causing a rotating flywheel to precess about an axis which is perpendicular to the
flywheel axis of rotation will generate a counter-torque orthogonal to both the
rotational & precession axis.
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11. Why Two Gyroscopes?
• Two gyroscopes (CMGs) mounted to the vehicle frame rotates in opposite direction to each
other, precess in opposite directions.
• This counter-torque is integrative, but their yaw effects on the vehicle cancel each other.
Hence, it gives more stability compared to one CMG.
CMGs 11

12. What is CMGs?
CMG Control Moment Gyroscope
• A flywheel is included in a first and second
gyroscope coupled to the vehicle frame,
rotates in opposite direction to each other.
The counter-rotating flywheels are
precised in opposite directions.
• The precision is done with the help of
gimble motor, according to right hand
thumb rule. This whole assembly is called
Control Moment Gyroscopes (CMGs).
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13. Which components are there?
• Major components are as follow.
1. Flywheel
2. Gimbal supports
3. Base Supports
4. Wheels and Wheel Supports
5. Motors
6. Control Electronics
7. Micro-controller
8. Sensors
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CAD MODEL

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16. Control Electronics, Micro-controller, Sensors
Control Electronics: The control electronics are the component implements the control
algorithm, from the microcontroller, to the high powered drivers for motors.
1. Microcontroller:
The microcontroller is selected based on speed, number of input-output ports and cost.
Additional peculiarities specific to each microcontroller are also considered. The chip will
programmable with a hardware programmer and code can be written in C programming.
2. Sensors:
The controller we will use has four inputs. These are the vehicle angle with respect to the
vertical, two gimbal angle with respect to its ‘zero position’, and the respective angular
velocities. We include a gyro sensor to sense the rate of the vehicle angle.
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17. Arduino Controller and Gyro module
Arduino Controller Gyro Module
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18. Control Electronics
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20. Advantages
• CMGs provide stability to vehicle during low speeds and stops, so that the vehicle can be
used by disable, short and older age person.
• With gyro stability system, vehicle handles similarly to a car in inclement weather and off
roads.
• Whole vehicle consists very less weight in due to easily operated by battery power. So,
vehicle may be considered in electronics vehicles, hence one can design an eco friendly
vehicle.
• It is safe and also provides safety during accidental condition by balancing the vehicle.
• A fully enclosed Gyro-Bike is termed as Gyro-Car, which is more efficient than a conventional
car and also suitable in traffic. Moreover 70% people use to drive their car alone, so this type
of Gyro-Car is suitable in urban areas in daily activities.

21. Implement in the Real World
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25. Thank You 25
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