self balancing skateboard
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Self Balancing Electric
SkateBoard
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Presented by-
Tejas Bhandarkar Priyanka Kadam
Sayali Bilaye
Vidisha Naik
Under the guidance of:
Mrs .Kanchan Sarmalkar
(H.O.D Dept. Of Instrumentation)
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Contents
Introduction
Requirements
Designing
Scope of Project
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Introduction
Twin wheeled skateboard that works like aSegway.
Electric skateboards exist already with
powered rear wheels. It knows which way is "up" via a combination
of gyroscope and accelerometer sensors,
using a complementary filter which reads and
combines data from both 100
times per second.
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Steering by a simple rocker switch in hand
controller.It would control the wheel motors so the wheels
always stay under your centre of balance, like
balancing a broomstick on your fingertip. This is
called a "PID" control system and is used for all
sorts of control situations
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Requirements
Accelerometer
Gyroscope
Lithium ion batteries
2 wheels
Motors with better torque
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ACCELEROMETER
An accelerometer measures properacceleration, which is the acceleration itexperiences relative to freefall and is theacceleration felt by people and objects.
Most accelerometers are Micro-Electro-Mechanical Sensors (MEMS).
The basic principle of operation behind theMEMS accelerometer is the displacement of
a small proof mass etched into the siliconsurface of the integrated circuit andsuspended by small beams.
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Consistent with Newton's second law
of motion (F = ma), as an acceleration
is applied to the device, a forcedevelops which displaces the mass.
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Specifications
A typical accelerometer has the following
basic specifications:
Analog/digital.
Number of axes.
Output range (maximum swing).
Sensitivity (voltage output per g).Bandwidth.
Amplitude stability.
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GYROSCOPE A gyroscopeis a device for measuring or
maintaining orientation, based on theprinciples of angular momentum.
Mechanically, a gyroscope is a spinningwheel or disc in which the axle is free toassume any orientation.
Although this orientation does not remainfixed, it changes in response to an externaltorque
The device's orientation remains nearlyfixed, regardless of the mounting platform'smotion, because mounting the device in agimbal minimizes external torque.
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Gyroscopes based on other operating principles
also exist, such as the electronic, microchip-
packaged MEMS gyroscope devices found inconsumer electronic devices, solid-state ring
lasers, fibre optic gyroscopes, and the extremely
sensitive quantum gyroscope.
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Batteries
Use 2 simple 7AmpHour lead acid or
lithium ion batteries in series to give 24V.
The main power switch is in the middle
and essentially "joins them together."
Again, make sure power leads go into the
Sabertooth the correct way around.
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Microcontroller
The microcontoller is the heart of any
control system,therefore its proper
selection is very important.
There are many microcontroller families
and many different type of microcontroller
with wide range in applications.
We are going to design a dummy Arduino
Mega microcontroller development kit.
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Arduino Mega 2560
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Features of Arduino Mega 2560
Microcontroller ATmega2560
Operating Voltage 5V
Input Voltage
(recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 54 (of which 15provide PWM output)
Analog Input Pins 16
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DC Current per I/O
Pin40 mA
DC Current for 3.3V
Pin50 mA
Flash Memory 256 KB of which 8KB used by
bootloader
SRAM 8 KBEEPROM 4 KB
Clock Speed 16 MHz
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Hand Controller
A"de-luxe" self balancing skateboard has
a wireless Wii Nunchuck as the control
system.
However here we are interested in
reducing cost.
Therefore we have a cable with a hand
controller on the end.
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This has a dead-man switch (cuts motors if
you let go i.e. fall off)Also has steering left and steering right
plus a switch to fine-tune the balance
point of the platform.Wiring diagram on next slide:
D" is the 1500 Ohm resistor
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Scope Of Our Project
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Short Distance Travelling
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Skateboarding as an hobby
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Bibliography
http://arduino.cc/en/Main/arduinoBoardMe
ga2560
http://en.wikipedia.org/wiki/Accelerometer
http://en.wikipedia.org/wiki/Gyroscope
http://arduino.cc/en/Main/arduinoBoardMega2560http://arduino.cc/en/Main/arduinoBoardMega2560http://en.wikipedia.org/wiki/Accelerometerhttp://en.wikipedia.org/wiki/Gyroscopehttp://en.wikipedia.org/wiki/Gyroscopehttp://en.wikipedia.org/wiki/Gyroscopehttp://en.wikipedia.org/wiki/Accelerometerhttp://en.wikipedia.org/wiki/Accelerometerhttp://arduino.cc/en/Main/arduinoBoardMega2560http://arduino.cc/en/Main/arduinoBoardMega2560http://arduino.cc/en/Main/arduinoBoardMega2560 -
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