Self balancing bicycle (reaction wheel bike)
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- Опубликовано: 5 сен 2020
- Gimbal controller BGC 3.1 with atmega328, gimbal motor EMAX 2806-100KV, magnetic encoder AS5048A connected over SPI.
RC servos SG90 for driving and turn. One servo redesigned to rotate continuously.
This project is open source github.com/remrc/Reaction-Whe...
STL files www.thingiverse.com/remrc
One more bike:
• DIY 3D printed self ba...
• DIY reaction wheel bik... 
Наука
You’re blowing me away, man. I can’t take it. 😳🙌🏼 AMAZING WORK
Amazing! Can't believe how smooth everything is.
It’s not that important. Can be selected by try. It’s not as complicated as you think. If wheel is to heavy it also works, but needs more power from motor. So, better if wheel is to lighter, but enough to balancing.
Wow!! È spettacolare!!! Complimenti per la realizzazione!
Brilliant project!
Amazing! Brilliant control algorithm. 👍
Its a very Nice Project !
Wow really the bike is self balancing while it moving arround whole area
Very cool project! When the bike is going around a corner the reaction wheel will be continuously accelerating and will eventually run out of headroom and the bike will fall to the outside. I wonder if the program could lean the bike over until the reaction wheel can get back near zero. A traditional bicycle does this with steering inputs but I bet it could all be done by the reaction wheel as well. Right now you have the angle setpoint as straight up and down, but if the setpoint changed depending on the acceleration signal to the wheel, it might be self correcting in the presence of a persisting external lateral acceleration (such as a turn).
The angle setpoint as not straight up and down. It is necessary to kill rotation the wheel, this can only be done by tilting to the other side. The tilt is small, but it is.
@@ReMRC
Please provide full guide sir, it will help us very much, students will learn many things from this....
My humble request, please sir 🙏🙏🙏
Heart touching work bro !!
Cool! I really like your work! I'm interested in the reaction wheel too! but I wonder how the wheel can jump up and stand on the angle? Could you please suggest me about the method?
ruclips.net/video/nQoJJ_vhdW8/видео.html
Incredible sir 👏
Your 🐈 deserves a like too!
I think youtube was created for people like you. Unfortunately, the algorithm promotes exactly the opposite. Sorry, don't get discouraged, I like the project, good luck in life.
Hello was wondering if you are also using a PID system to control the balance. If so do you use all 3 parts of the PID and is there a better technic to tune the PID system than starting at 0 and trying to get the params right is there a way to calculate them?
Thanks,
In this project I use LQR. But PID works also...
This is likely the same concept and techniques used in Honda's self-balancing motorcycle demonstrator from a few years ago.
This is great! How are you able to run your brushless motor so slowly without it stuttering? Magic ESC settings?
No magic. Field Oriented Control (FOC).
Brilliant !
That is a really wonderful project! I wonder when the bicycle is riding around the corner(or tracking a circle path), is it possible to keep it upright with the reaction wheel theoretically? If it does, can I just simply set the lean angle to zero as the reference signal for the pid controller? Many thanks!
Maybe I not understand... But yes, if bicycle is riding around the corner (or tracking a circle path) it is possible to keep it upright with the reaction wheel.
Good work! Can you help me with my project? I cannot adapt the simulation data to the motorcycle.
Thank you for your reponse.
Very nice project👏👏👏🤝🤝🤝
How well these concepts work in real world scale? Will the power consumption for the reaction wheels higher making it impractical?
I think it should work with a real bike. Is it practical? Difficult question... :)
Brilliant!! Will make one myself just to annoy our cat
Jiro wheel can do smaller ? smallest for 1 " 2" ?
The cat's been hearing this thing for the past 3 months....
:)
Cat is pretty chill, mine would have attacked for sure.
impresive
😀
If you mount the reaction wheel at 90 degrees you will reduce air drag at higher speeds
That way you wouldn't have a reaction wheel anymore. Then it's a gyroscope. Maybe the better solution from the beginning, because you just need a fast spinning wheel and no sensors. But I think the sensors are the point of this project.
😁 Genial!
What kind of motor and motor driver were used to operate the moment wheel?
Gimbal controller BGC 3.1, motor EMAX 2806.
Valeu!
wonderful
awesome machine
I can't get a self " Assisted ", balance, " rail bike " out of my head.
We are used to handlebars operating horizontally, for balance.
I must try a vertical direction handle bar system that changes
the direction of an independent wheel , ( like yours ) or, horizontal stabilizing bar
to counteract for balancing while continuing in a straight line.
I think maybe our mind can be trained to overact just a bit to
recover from a correction when losing balance.
-
This is what I mean by "Assisting " rather than completely taking over
the balancing act. Our small amount of over correction
would set us up for continuing to balance while going in a straight line.
I believe our mind is trained on a conventional bike, to steer the opposite
direction just prior to making a leaning turn.
Very TOPPPPPP - SHOWWWW!
What is used for feedback of lean angle?
Thanks :)
If I understand correctly question - encoder.
Awasome
This is amazing work. Please give more information on the gimbal motor. What is model name of the BDLC gimbal motor and where did you buy it? Thank you
EMAX 2806-100KV. Ebay.
@@ReMRC Thank you very much
The grumpy cat is having Great entertainment 1😆😆😸😸
Awesome. What's the AS5048A used for? I can't spot it.
AS5048A as encoder. BLDC motor works in closed loop mode.
Can you help me with this if you have completed this
can you give me your email or anything for contact
awesome
nice. I'm also working on a self-balancing bicycle, have you has any document about your project?
No documentation available. I'm sorry.
@@ReMRC thanks you
Cool
WoW, amaizing
Would a smaller wheel at higher rpm do the same thing? Just guessing...
Not the same. Probably wouldn't work.
@@ReMRC OK, thanks.
Shouldn't you be able to steer with just the reaction wheel?
Bike? No.
Don't bicycles normally stay up mostly from the rotation in the wheels, not from the human actively correcting?
The rotation of the wheels of the bicycle does not help.
I'm not sure I agree with ReM-RC that the rotation of the wheels doesn't help, because any spinning weight is going to add stability, but it's definitely not the primary force that keeps the bike upright. Think about it, if the rotating wheels were all that kept you upright, then wouldn't it be almost impossible to ride a bike at walking speed?
The main thing is counter-steering. (interestingly, I've heard it was Wilbur Wright who first described this). Basically, if you are falling to the right on a bicycle, you would turn the handle bars right to "get the bike back under you" or balance. So to turn left you would also turn the handlebars to the right an almost imperceptible amount in order to put your center of gravity slightly to the left, and then you would turn the bars back to the left in order to "catch" yourself and stay at the desired lean angle.
The bike in this video basically never leans, so it doesn't counter steer, but bicycles ridden by people do. It's much more apparent on a motorcycle, where the higher speeds and higher weight of the machine exaggerate the effect.
@@andycullen9311 The wheel of a real bicycle has very little gyroscopic effect
Nice
Nice 😍
👍 nice😊
PHENOMENON OF
GYROSCOPE .....
Geniale
What motor are you using for the reaction wheel?
Didn't read the description?
I hv to submit model tomorrow and everything is ready but my gimble motor isnt working what to do now
Motor isn't working? Or something else?
貓：這是啥米東西啊？敢在我面前放肆..
Beautifull
it's good show and good idea. i like this video.
bike needs to lean around corners.
Its a very nice build otherwise.
which motor u used for reaction wheel
Read description...
What a complicated way of doing what a trike does,, even when there's no power,,its a segway,,
Which module (or) board you are used
Gimbal controller BGC 3.1
NOTHING IS IMPOSSIBLE IN THE WORLD OF SCIENCE
Super
Good
nice! what are those nuts size in reaction wheel? i suppose they are M4?
M4
is it possible to make the same project with ardiuno nano with blutooth module?
No, it also requires a BLDC driver.
@@ReMRCohk, it would be helpful if you plz add the schematics in github coz I'm building this project 🙏
@@Supreme_1A_ Sorry. I don't have schematic. This is completely unnecessary. What an where is connected is declared at the beginning of the code. That is quite enough. It only requires a little more knowledge than a beginner.
Fantastic project. I'm also working on a self-balancing bicycle . Can you tell me the outer diameter of the reaction wheel and its mass please? Thanks
Diameter - 120mm. Mass - 40g.
Thank you ReM-RC.
Is that PID?
Does anyone know if this design has been applied to a full sized bicycle with a human rider?
Full size without human - yes, this is possible. But with human... What's the point of that?
@@ReMRC Well, their are such a thing as streamliners, which are often two wheel vehicles where the rider is encased in an aerodynamically optimized body. The drawback with two wheeled streamliners is that the rider is unable to stick out their legs to self stabilize. People have gotten around this by adding deployable wheels to stop the vehicle from falling over. This approach is effective in ideal conditions, but if the vehicle were to fall over thel anding gear is unable to life the bike back up. There are such thing as three wheeled vehicles like velomobiles, which also solve this roblem, but such vehicles are often unable to lean into a turn like a bike and can be more prone to falling over. If a reaction wheel can be an effective way of allowing a streamliner with a human in it to remain upright and recover from a fall over without using their feet, it can make streamliners more practicle for everyday use.
Super 🤩🤩😍😇
Just a twist to a gyro? Or totally new thang? Seems to work ! Will it work with smaller wheel?
I chose the most suitable size and weight. It's important.
can you share the 3D printed parts files
Hey,
Nice work.
How did you upload an arduino sketch to this gimbal controller ?
There is an atmega328. Bootloader can be flashed.
@@ReMRC I was trying to use Arduino UNO as ISP programmer, but it's not working. I can't burn bootloader. Did you use a different programmer ?
@@michaelpukwaa4976 Yes, you can use Arduino UNO as ISP programmer. If you cannot burn bootloader, you did something wrong.
@@ReMRC Yeah, this board has outputs for programming the atmega, so it should be straightforward. This should be just about connecting correct pins to arduino uno. Will try once again.
@@ReMRC I made it. I've uploaded your code from github and I don't know why the motor does not rotate. It squeaks and heats up, but does not spin. Have you encountered similar case ? And how do you know that you need to use 9, 10, 11 or 3, 5, 6 pins for motors ? Maybe it could help me debug it.
Wow
What software is used to program this
Arduino. C.
Is this works for adult. If yes cost pls. Pls share the address from where can i
The cat says WTF 😬!
what is your programming languages for this project?
C.
@@ReMRC how do you upload code in BGC?
@@mohammadrezashoeybi5456 I uploaded bootloader to BGC. This is the easiest way. But any upload method should works.
Very good
where do you connect servo cables?
@@mohammadrezashoeybi5456 The BGC has analog inputs. That's where I connected. But I also use a separate 5V source.
Do you have the code for the bike? Thanks
Yes, it open source now.
How much voltage motir will be used pls reply as soon as possible
9-12V. 3S LiPo battery.
@@ReMRC Thanks brother 💗💗💗love from india
Not expected that fast reply on a video made one year ago again thanks a lot🤍🤍💗💗♥️♥️
@@ReMRC but pls make an procedure of the module if possible ...... waiting for it
Where can I buy this?
This is DIY. Nowhere. But similar maybe you can found...
Did you make use of Arduino
BGC 3.1 - the same Arduino, but with BLDC drivers.
hey can you provide more information on this project
if you have specific questions I would try to answer...
The cat is like, Yeah, and ?
The cat 😄😄
🙌🙌🙌🙌🙌🙌🙌🙌🙌🙌🙌🙌👌👌
How to make this
I am a student of bs eletrical engineering .
Do you have any email.. i want some information
How can buy this bicycle?
I do not sell it...
what is the total cost for the project bro.
I don't know. But you can calculate. All parts in description.
😯😯😯😯
🥰🥰🥰🥰
please the type of motor that i can use
#ReM-RC
Didn't you read description below the video?
Just because one can do it, its not always good that one should do it 😹
Be smart, Use 4 wheels and conserve energy for motion either way.... 😼
your cat seems sad about it
Where the seat pf rider?
You can see better design. :) ruclips.net/video/6snsCNyjHRU/видео.html
Is Tutorial available?
Tutorial - no. But more about similar bike you can see here:
ruclips.net/video/6snsCNyjHRU/видео.html
ruclips.net/video/17oNO7piRTU/видео.html
What is your job name?
My work involves programming. :)
Hello there .. I'm an undergraduate student of Electrical Engineering.
I want to do this as my Final Year Project. If you can, please, provide me its documentation, it will help me a lot. Regards!
I don't have any documentation. Everything in mind.
sir can you help me with this if you have completed this
can you give me your email or anything for contact
Cat have shock from device!
cool but can you please provide 3d printing part file
and its wiring diagram
I can provide 3D files, but I think it would be of little use. This design is not good and is tailored to specific details (servo, bearings, steel axles).
@@ReMRC anyways please provide and circut diagram also
@@ReMRC it can be used as a reference
😇😇😇😇