One Wheeled Electric Personal Transporter
K. Ram Kumar1, C. Suriyakumar2, L. Vishnuvardan3, S. Vignesh4, C. Vigneswaran5
1K. Ram Kumar, UG Students, Department of Production Engineering, PSG College of Technology, Coimbatore, India.
2C. Suriyakumar, UG Students, Department of Production Engineering, PSG College of Technology, Coimbatore, India.
3L. Vishnuvardan, UG Students, Department of Production Engineering, PSG College of Technology, Coimbatore, India.
4S. Vignesh, UG Students, Department of Production Engineering, PSG College of Technology, Coimbatore, India.
5C. Vigneswaran, Asst Prof., Department of Production Engineering, PSG College of Technology, Coimbatore, India.
Manuscript received on April 30, 2015. | Revised Manuscript received on May 04, 2015. | Manuscript published on May 15, 2015. | PP: 16-21 | Volume-3 Issue-6, May 2015. | Retrieval Number: D0828033415/2015©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Inpresent scenario, every individual has a two wheeler and they are using this even for reaching short distances. By this, conventional resources like petrol are consumed more and more. Not only the depletion of resourses, it produces more environmental pollution hazards. To overcome this issue, comparatively unconventional energy resourses should be used. For this we have developed a electric operated unicycle., The outcomes this research paper is to design, build and control a self-balancing electric unicycle are presented. The design of the mechanical and electrical components is discussed, followed by a derivation of the dynamics of a generic unicycle. A linear control strategy to stabilize the unicycle is implemented on the physical system and a simulated model is derived from the system dynamics. Finally, comparisons of the results from simulations conducted on a model of the unicycle as well as experimental results are presented.
Keywords: One wheeled electric vehicle, robotic system, stabilization, state feedback control.