for presentation

1. PRANVEER SINGH INSTITUTE OF
TECHNOLOGY
SEMINAR TOPIC
SELF BALANCING UNICYCLE
PRESENTER MENTOR
SUMIT KATIYAR MR. ASIF AHMAD
ASSISTANT PROFESSOR
PSIT KANPUR

2. TABLE OF CONTENT
 WHAT IS SELF BALANCING
 HISTORY
 ORIGIN
 INTRODUCTION
 Gyroscope
 LITERATURE REVIEW
 TECHNICAL PART
1. Steering damper
2. Motor
3. Tire and tube
4. Seat and seat pole
5. Motor controller
6. Battery selection
7. Microcontroller
 Conclusion

3. WHAT IS SELF BALANCING
• The process by which a system achieves and
maintains a steady state by internal forces.
• When any driver or object disturb any
mechanism and mechanism regain it’s
original position without any external forces

4. HISTORY
• The unicycle's history began with the invention of the bicycle. Comte De Sivrac first
developed bicycles during the late eighteenth century. His device, called a celerifere, was
a wooden horse that had two wheels joined by a wooden beam.
• During 1866, James Stanley invented a unique bicycle called the Penny Farthing. It is
this vehicle that is thought to be the inspiration for the unicycle.

5. THESE ARE THE NEW AND MODEREN UNICYCLES WHICH HAVING MORE TECHNOLOGY AND
STABILITY

6. ORIGIN
The robot was physically modeled as an inverted pendulum and the mathematical model
Was derived. Matlab control system toolbox was then used to analyze the system model
And determine the system poles and stability region. The closed loop control system was
Then formulated. These were done using hypothetical parameters, the real robot
Parameters were then substituted in the model and the system balanced again.

7. INTRODUCTION
The unicycle is a one wheel bike that needs the rider to balance it without falling down. The rider needs to
find the center of gravity by balancing their body and also controlling the pedal.
 The bike could fall in four directions which are left, right, forward and back.
 In the modern era, the unicycle has advances to more sophisticated design.
 The movement of the bike is control by using a DC motor

8. • The balance of the bike is controlled by the sensors called gyrometer and accelerometer. However, in
building the electric vehicle, the stability issue needs to be considered and measured accurately.
• As it is one wheel, the speed of the motor also needs to be controlled properly to get the stability.
• The smoothness is an important matter need to be considered during the ride.
• The vehicle will achieve the at some constant speed. But to stop the vehicle, the speed needs to be
reduced smoothly without sudden stop.
• All the works of controlling the motor is centered in a programming device called Arduino. It acts as the
brain of the whole system in order to keep the vehicle upward without fall.

9. Gyroscope
 A gyroscope is a spinning wheel or disc in which the axis of rotation is free to
assume any orientation by itself. When rotating, the orientation of this axis is
unaffected by tilting or rotation of the mounting, according to the conservation of
angular momentum. Because of this, gyroscopes are useful for measuring or
maintaining orientation.
 Gyroscopes based on other operating principles also exist, 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.

10. LITERATURE REVIEW
•Focus Designs self balancing unicycle
•Trevor Blackwell’s Electric Unicycle
•unicycle steering analysis

11. SELF BALANCING UNICYCLE DESIGN

12. TECHNICAL PARTS
• Steering damper
• Motor
• Tire and tube
• Seat and seat pole
• Motor controller
• Battery selection
• Alternative option: Sealed lead-acid
• Microcontroller

13. MOTOR
 ranging from roughly 200W to 300w
 Cost approx 500$
 the motor has 56 magnets and 56 poles,
allowing a smooth acceleration of the motor to
be produced. It is also a brushless system,
meaning that the motor produces less wear,
less noise and higher efficiencies than
brushed motors

14. Tire and tube
•A Schwalbe City Jet HS 257 16" Tire is used in
the project with a 16" Presta valve inner tube.
•It also take care of less area is used or having
maximum efficiency

15. Seat and seat
pole
The selection of the seat, seat post and seat clamp was driven by
cost, availability and
Compatibility. At the time of purchase, the seat was found on sale
on Unicycle.com for
$50. The seat pole and clamp were purchased to match the seat.
The seat is comfortable and has hard plastic sections on the front
and back. These
Absorb impact and prevent damage to the seat fabric. The section
on the front also
Acts as a hand grip. In addition, the quick release clamp and seat
pole allows for easy
Adjustment of the seat height.

16. Motor controller
•The Roboteq BL1500 controller and the Maxon
DEC 70/10 are both suitable for the
Requirements of the project. However, the Maxon
was used in the project due to sponsorship from
Maxon Motors Australia
•AnFor this project, the motor controller must be
able to accurately scale the current outputd
rapidly switch between forward and reverse.

17. Battery selection
•The two types of rechargeable batteries considered for use in
the Unicycle were sealed lead-acid (SLA) and lithium-ion (li-
ion). The Li-ion batteries were considered as a preferred
option due to their high energy density. However, they are
expensive and require extra cell balancing hardware. SLA
batteries were specified as second options as they are
inexpensive. However, additional funding eventually allowed
for the purchase of two lithium-ion batteries from Ping Battery

18. Conclusion
First, the stall torque of 30Nm exceeds the 22 Nm torque required for stabilisation of The Unicycle and
rider . Secondly, the results have allowed for reasonable Estimation of the torque constant of the Magic
Pie motor. Finally, these results will serve as a benchmark for the future testing of the motor with the
Maxon motor controller and help to indicate any possible problems

19. THANK YOU