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Gyroscope Design for Monowheel Stability

The document discusses using a gyroscope to improve the stability and control of a monowheel vehicle. It proposes mounting a small steering wheel as a gyroscope to help maintain balance. When turning left, the gyroscope's torque would act upwards to prevent the monowheel from falling over by countering its angular momentum pushing it left. This gyroscope-based solution aims to address issues like limited stability in monowheels. Calculations of gyroscopic torque are provided based on the monowheel and small wheel's mass properties and rotation speeds.

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Aman Desai
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272 views13 pages

Gyroscope Design for Monowheel Stability

The document discusses using a gyroscope to improve the stability and control of a monowheel vehicle. It proposes mounting a small steering wheel as a gyroscope to help maintain balance. When turning left, the gyroscope's torque would act upwards to prevent the monowheel from falling over by countering its angular momentum pushing it left. This gyroscope-based solution aims to address issues like limited stability in monowheels. Calculations of gyroscopic torque are provided based on the monowheel and small wheel's mass properties and rotation speeds.

Uploaded by

Aman Desai
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Gyroscope design for turning the monowheel

Group 1
AU1940085 Dev Kamlesh Patel
AU1940264 Devarsh Dave
AU1940102 Aditi Kumari
AU1940234 Umar Khalak
AU1940220 Vishal Acharaya
AU1940262 Nakshatra Maheshwari
AU1940226 Parth Modi
Monowheel

● It is one-wheeled single track vehicle.


● The rider sits either within the wheel or next to it.
● The wheel is a big ring usually driven by smaller wheels pressing against its
inner rim.
Problems faced by monowheel
● Limited horizontal stability.
● Limited capacity.
● Risk of gerbiling.
Gyroscope
A device which is used for measuring or maintaining orientation and angular
velocity.
Use of gyroscope in a monowheel
● Gyroscope and acceleration sensor inside the vehicle are used to detect the change of
vehicle attitude.
● Servo control system is used to adjust the motor for a balance system.
● Gyroscope sensor judges the rotation of an object, taking account of the coriolis effect
on a very small scale.
Control Objectives and Design Objectives
● Primary objective in a monowheel is to maintain the rider at his mean, stable
position despite parameter variations like increasing monowheel’s velocity,
acceleration, etc and braking and external disturbances.
● Main control objective is to operate the monowheel’s speed within safe limits
by directing the controller to follow the reference velocity.
Solution / Approach to the problem
● We are planning to mount steering on a small wheel instead of attaching it to
the frame. And we are treating that small wheel as a gyroscope.
Solution/ Approach to the problem
m = Total mass of the monowheel including the weight of battery, motor, frame and the weight of driver.

W = Angular velocity of the monowheel

Wp = Angular velocity of precession

I = Moment of inertia

Gyroscopic Torque(C) = (I*W*Wp)

We have assumed that the m = 180 kg

Radius of gyration(k) = 0.081 m

Then, Moment of Inertia (I) = mK2

= 1.2 kg/ m2
Solution/ Approach to the Problem
Angular velocity of monowheel (w) = 8.76 rad/s

Linear velocity of monowheel (v ) = 25 km/hr = (6.944 m/s)

Radius of turning(r) = 0.792 m

Angular velocity of precession (wp ) = v/r

= (6.944 / 0.792) = 8.76 rad/s

Now, the Gyroscopic torque (C) = I*w*wp

= (1.2*8.76*8.76) = 92.085 N.m


Vector Diagram of monowheel
As the monowheel is rotating clockwise in forward direction, the direction of torque will be perpendicular i.e. on the
left of the monowheel (right hand thumb rule).
Solution/ Approach to the problem

Vector Diagram of small wheel


Solution/ Approach to the problem
While leaning the monowheel to the left:
Solution/ Approach to the problem
Turn monowheel to the left:
As we take a left turn and lean only the monowheel will have the chances of
falling. To avoid that fall along with leaning we also turn the steering to the left. At
this point still the direction of the torque acting on monowheel is left.
When steering is also turned to the left:
The small wheel on which steering is mounted is rotating anti-clockwise. When
viewed from the top the gyroscopic torque acting on the small wheel will act
upwards. Now the angular momentum(acting on the left direction) of the
monowheel will try to follow the torque provided by small wheel(acting upwards).
And this will prevent the monowheel from falling.
References
1. [Link]
34-7
2. [Link]
3. [Link]
4. [Link]

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