DESIGN AND FABRICATION OF A SELF BALANCING PERSONNEL VEHICLE

Abstract

We all know that world is facing problems like environmental pollution, energy crisis as well as many other local problems such as traffic jams etc. So a vehicle which can overcome all these problems with good efficiency is highly desirable for transportation from one place to another indoor as well as outdoor for short distances. Keeping all these factors in mind we decided to design a vehicle equipped with all these facilities and requirements. This vehicle consists of two wheels driving by 24V dc motors, a base on which a person ride and a handlebar to control the vehicle either to move forward backward or to turn left right. To balance and for stabilizing the vehicle we use IMU sensor (accelerometer and gyro) works on MEMS technology. The values obtained from IMU sensor are then fed to complementary or Kalman filter to filter out the errors. After that the results are transferred to the P1D loop for feedback and resulting to generate a PWM signal to drive the motors accordingly to the tilting measurements of vehicle. This vehicle move forward when the person riding this vehicle holding the handlebar leans towards forward and vice versa for the backward motion of vehicle.