Introduction RYNO Is a Monobike That Consists of Only One Wheel and It Is

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

FABRICATION AND DESIGN OF MONOBIKE

Shatakshi Singh Department of Electrical Engineering, SRMSCET Bareilly, Uttar Pradesh, India

Abstract In this paper the work has been done on monobike RYNO which is based on the concept of unicycle. This machine can beat the problem of driving energy source as well as pollution as they are the key problems of modern time. Mono wheel can be used in various places such as industries to travel between various working sites, in transportation, and in public areas also. Here in this project we are going to make the hardware of mono bike, which we can drive as similar to bike but with few skills as it is a unibike. In this bike self -balancing technique will be used with the help of microcontroller, gyrosensor and accelerometer. Gyrosensor and accelerometer will provide the input to the microcontroller and as according to this input microcontroller will provide the final input to the motor to run as according to the required commands. In this mono bike here we will use MPU6050 sensor in which MEMS accelerometer and MEMS gyroscope both are integrated on a single chip. The microcontroller is Arduino uno which will run at 16MHz.

Keywords- Monobike, RYNO,MPU6050,MEMS accelerometer and gyroscope, Arduino Uno

Introduction

RYNO is a monobike that consists of only abbreviation RYNO by Chris was “Ride one wheel and it is powered electrically Your New Opportunity”. By continuous with the help of batteries. RYNO is the final look of RYNO can be seen as: basically capable of running at speeds of 10miles per hour. It was made by Portland Literature review based engineer Chris Hoffmann made the Research on monobike and few major first prototype of RYNO when his daughter complexities in manufacturing and stability told him about his fictional story of one has been done through various research wheeled motorcycle. The first prototype papers and videos that are available online made by Chris Hoffmann was like that: because exact data about RYNO was not The real meaning suggested for the available. So the project needed survey and

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

learningandfor that subsequent research are Roger Halkyard et al (2013) in this referred- research paper the author have tried to D. Hazry M. Sofian A. Zul Azfar et al investigate the previous used methods of (2009) this paper describes the brief study balancing for two wheeled robots first on about inertial measurment unit (IMU). flat terrain and then on hilly or other Author has done a vast study on various terrestrial plane that may not be purely flat. types of IMU sensors available in the After doing vast investigation author have market and provide a better advice to use concluded that in past times researchers IMU sensor along with GPS tracking so as have suggested various theoretical models to use extra functions such as navigation, and techniques but not verified them guidance and controlling in devices such as experimentally. It is found that simple aircraft and unmanned vehicle etc. linear controllers can even control in a N. K. Nasir, M. A. Ahmad, R. M. T. Raja efficient method even for those systems Ismail et al (2010) in this research paper also that are not modeled. author has been compared the different Sreevaram Rufus Nireekshan Kumar, controlling techniques of stability such as Bangaru Akash and T. Thaj Mary Delsy et LQR and PID technique for most of the al (2014) created and hardware of a non linear vehicles with the help of monowheel in which self balancing MATLAB software regarding there input techniques is being used. The sensors tracking and disturbance rejection which are used in this monowheel are capability. By comparison it has been MPU6050 which inhabits the found that both of the methods LQR and accelerometer and gyroscope on the same PID control technique are successful in chip. In this project they have used the controlling of non linear vehicles with similar techniques as others as; a respect to angular ad linear modes. microcontroller that helps to execute the Yohanes Daud, Abdullah Al Mamun,Jian- program and thus provides the result to Xin Xu et al (2013) in this paper the author drive the motor. MPU6050 is used along has described about the various problems with a mini arduino ATmega 328 that related to balancing of lateral pendulum operates at 16 MHz external resonator. unicycle. For these balancing problems This mono wheel can travel upto speed of three linear control methods have been 20km/h. suggested for designing the controller Prof.Yogesh Risodkar ,Mr.Ganesh regarding their longitudinal and lateral Shirsath, Ms.Monali Holkar, Mr.Mayur form. Author has discussed various initial Amle et al (2015) this research paper has postures that poses threat to balancing and described the importance and need of he concluded that simulation with the help alternative and advanced modes of of computer suggests very little balancing technology for transportation purpose and a ie. For only initial conditions. basic overview for designing the model Ronald Ping Man Chan , Karl A. Stol, C. such as the principal of inverted pendulum

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

is to be used for modeling. It has also been parked anywhere but there are few told that for a intelligent vehicle there will problems in that the single apparatus be requirement of gyroscopic sensors to controls the both speed. detect the angle of rider so as to P. Sarala, S. F. Kodad and B. Sarvesh et al accordingly steer or apply brake on the (2017) this paper has been described the vehicle. comparison of between many converters Desna Riattama, Eko Henfri Binugroho, such as simple Buck converter, Bridgeless Raden Sanggar Dewanto, Dadet Buck and Hybrid buck converters for Pramadihanto et al (2016) this research BLDC motor as input supply need to be paper has talked about PENS wheel which rectified for various applications. The uses only one wheel and balances itself so rectification need is basically for power as the rider could not fall in either factor correction. Comparison is done by direction. For designing PENS wheel the developing simulink models on author has suggested the use of few MATLAB/SIMULINK software. In important components such BLDC motor, comparison power factor angle between IMU sensor( accelerometer and voltage and current was shown every time gyroscope). PENS wheel employs the PID and it was concluded that hybrid buck controlling technique for maintain its converter was far better than simple buck balance automatically. Author has and bridgeless buck converters. concluded that after executing all these things in experimental model PID Need of work controller was capable of providing There are various factors regarding the balance within ±10° tilt angle. question that why we need to make a Mukesh Sahu, Naved Shaikh, Saurabh monobike- Jadhao, Yash Yadav et al (2017) proposed 3.1 Depleting conventional sources an review of Portland orgeon based RYNO There is a large need to move from highly motors such as from where the origin of non-renewable resources consuming RYNO motor comes into an real action. vehicles to the vehicle which are eco- What are the controlling techniques that friendly and are electrified and they will be are to be used in balancing of RYNO. In suitable to environment also. As there will RYNO mainly a unit of gyroscope & be large paucity of conventional sources in accelerometer , microcontroller ,DC motor the coming time due to over dependency of drive and a DC battery is used as a driving countries on such fuel. We can see an source of energy. Authors have also told estimated data of the heavy dependency on many merits and demerits such as Easily fossil fules. check of remaining battery charge, From this data it can be estimated that we Personal tablet or phone can be charged are largely dependent on conventional with the help of a most preferred 12V DC resources for our demands. battery, as the dashboard of car. It can be

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

3.2 Growing prices As we are very well aware that prices of 4.2 Bike operation and controlling petrol and diesel are growing in a unpredicted manner and is making a large 4.3 Steps to be followed for operation burden on our pockets. and controlling 3.3 Cheapness of non -conventional Step 1:connection of speed controller to all resources the components: Non- conventional energy resources are From this diagram connections of the comparatively cheaper and government is speed controller can be done to the rest of also promoting more use of these resources the components so as to make the bike in due to environmental impact. workable condition. And this can be seen in actual project as: Iv.Experimental work Step 2: PID technique application 4.1 Construction PID technique in this project is basically 4.1Construction of the frame used for stability purpose so that bike will Construction of bike frame can be not tend to fall on either side. To apply PID described in the form of following steps- technique we have to use matlab/simulink Step 1: selection of tyre software for modeling ad determining the For mono bike tyre is selected of 145/70 tuned values of P, I and D constants. To R12 this configuration so as the more determine these values of constants first width and diameter of tyre can provide work is to obtain the values of transfer better form of stability to the bike function for BLDC motor and that of the Step 2: BLDC motor fitting inside the tyre inertial measurement unit working as a First to fit the motor in place of rim of the feedback path. The transfer function used tyre is kept empty from inside and then for this model is – with the help of arc welding motor is fitted . 퐺푖(푠) = inside the tyre with precautions otherwise . . (1) motor can damage and it can stop working. These values in transfer function are used

according to the parameters of BLDC Step 3: making of the fundamental frame motor. The block diagram model used in with stainless strips and square pipe MATLAB/SIMULINK can be shown as: Basic frame on which the complete design After giving commands in the command of body depends is made with the help of window and defining the values of w , z stainless steel strip of 2 inch and 3 sut and and wn values of PID controller can be 1.5 inch 14g square stainless steel pipe. tuned and values of all the constants can be Step 5: modification of the complete bike obtained and results can be seen as: Modification of bike needs its complete denting and painting so as to provide it a Step 3: PID values integrated with arduino new look. To make the stability part practical we first

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

made a prototype with the help of circuit this it is observed that the whole weight of diagram and then connected it with the toy is on centre of gravity such that even bike. after disturbing and applying the pushing force toy do not tend to fall down and Results maintains its position back as it is; hence After doing complete programming and this phenomenon can be employed in the connections the following results have self sustaining stability of bike. been obtained that can be shown as: (2) Proximity IR sensor can be use in mono bike so as to warn the bike in case of Conclusion and future scope danger from any side with the help of alarm if the budget is low . Self-balancing personal transporter which (3) Similar to the car intelligent parking has ability to carry a person to move from assist system can be used in bike also in one place to another. The vehicle will which sonar system, backup cameras and balance itself by moving the device in some additional sensors are also used. But forward direction or backward direction there is a limitation for this system; this base on the basis of readings provided from system can be used only if the budget is sensors. Monobike is very practically quiet good. viable also form the economic point of (4) In case of the batteries used in this view also. Monobike is much helpful in the project Li-on batteries can be used which large campuses like airports, universities, can reduce the weight problem upto large space centers and in large industries where extent and simultaneously can be fitted rider need to cover less distances and in anywhere free from the problem of setting narrow areas. Monobike suggested in this up area. experimental project is made with all (5) Along with riding on land these bikes efforts to make it economical and practical can be modified in a way to ride on water as much as possible so that it can be used also with some deep study regarding in practical life also with time evolving weight of bike. advancements making it more soft to run. This system reduces the work of humans as well as no pollution it provides eco friendly References environment. [1] Sreevaram Rufus Nireekshan Kumar, Bangaru Akash and T. Thaj Mary

Delsy,2016, “Designing the Mono Wheel 5.1 Suggestions for future work There are many future scopes for this by Using Self Balancing Techinque”, object as it don’t contain only a small area International Journal of Computer of interest which can be suggested as: Technology and Applications, Volume 4, (1) Its stability can be more improved with PP. 29-34. the help of ROLY-POLY toy theory , in [2] A.Geetha, Vishwanath Kannan, Akhil

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Sai Vontimitta, Indraneel Patha,2017, Regulations of Its Longitudinal and Lateral “Design and Development of a Self Modes”, Institute of Electrical and Balancing Mono Wheel Electric Vehicle,”, Electronics Engineers, 978-1-4799-1075- International Journal of Advanced 5/13/$31.00©2013 IEEE Research in Electrical, Electronics and [9] Chung-Neng Huang,2010, “ The Instrumentation Engineering, Volume Development of Self-Balancing Controller 6,ISSN: 2320 – 3765. for One-Wheeled Vehicles”, Scientific [3] S. brent cardini,2006, “A History of the research, Volume 2, PP.212-219 Monocycle Stability and Control from [10] J.Suresh, V.S. Subramanyam,2018, Inside the Wheel”, Institute of Electrical “Design and Analysis of Mono Wheel”, and Electronics Engineers, 1066-033X/06 International Advanced Research Journal [4] Mukesh Sahu, Naved Shaikh, Saurabh in Science, Engineering and Technology, Jadhao, Yash Yadav,2017, “A Review of Volume 5,Issue 7, ISSN :2393-8021 One Wheel Motorbike”, International [11] Prof.Yogesh Risodkar ,Mr.Ganesh Research Journal of Engineering and Shirsath, Ms.Monali Holkar, Mr.Mayur Technology,Volume 4, ISSN: 2395 -0056 Amle,2015, “ [5] Majid Dadafshar,2014, “Accelerometer Designing the Self –Balancing Platform and gyroscopes sensors: operation, sensing, (Segway)”, International Journal of and applications”, Maxim integrated, Science, Engineering and Technology PP.01-11 Research, Volume 4, Issue 9, ISSN: 2278 – [6] Desna Riattama, Eko Henfri 7798 Binugroho, Raden Sanggar Dewanto, [12] Mamta M. Barapatre, V N. Dadet Pramadihanto,2016, “PENS-Wheel Sahare,2015, “A Review on Various (One-Wheeled Self Balancing Vehicle) Methods for Self Balancing”, IJCSN Balancing Control using PID Controller”, International Journal of Computer Science International Electronic, Institute of and Network, Volume 4, Issue 1, ISSN : Electrical and Electronics Engineers, 978- 2277-5420 1-5090-1640-2/16/$31.00 ©2016 IEEE [13] A. N. K. Nasir, M. A. Ahmad, R. M. [7] Kaustubh Pathak, JaumeFranch, and T. Raja Ismail,2010, “The Control of a Sunil K. Agrawal, 2005, “Velocity and Highly Nonlinear Two-wheels Balancing Position Control of a Wheeled Inverted Robot: A Comparative Assessment Pendulum by Partial Feedback between LQR and PID-PID Control Linearization”, IEEE transactions on Schemes”, International Journal of robotics, Volume 21, NO. 3 Mechanical and Mechatronics [8] Yohanes Daud, Student Member, IEEE, Engineering, Volume 4, NO. 10, Abdullah Al Mamun, Senior Member, ISNI:0000000091950263 IEEE and Jian-Xin Xu, Fellow, IEEE,2013, [14] Ariel Iporre,2016, “BLDC-Motor PID “Issues in Balancing Control of Lateral- controller: Desing and Test”, Research Pendulum Unicycle Robot by Separate gate

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[15] Izza Anshory, Imam Robandi, and the International Conference on Man- Wirawan Wirawan,2018, “Parameters Machine Systems (ICoMMS) identification BLDC motor: [21] Ioannis Kafetzis, Lazaros Instrumentations and transfer functions”, Moysis,2017, “Inverted Pendulum: A MATEC Web of Conferences, 197, 11012 system with innumerable applications”, [16] Ronald Ping Man Chan , Karl A. Stol, Research gate C. Roger Halkyard,2013, “Review of [22] R.Pireethi, R. Balamurugan,2016, modelling and control of two-wheeled “Power Factor Correction in BLDC motor robots”, ELSEVIER,PP.89-103 Drives Using DC-DC Converters”, [17] Roman NADOLSKI, Krzysztof Institute of electrical and electronics, 978- LUDWINEK, Jan STASZAK, Marek 1-4673-6680-9/16/$31.00 ©2016 IEEE JAŚKIEWICZ,2015, “Utilization of BLDC [23] Ching-Chih Tsai, Hsu-Chih Huang motor in electrical vehicles”, Research and Shui Chun Lin,2010, “AdaptiveNeural gate, ISSN 0033-2097 Network Control of a Self-Balancing Two- [18] Baiju Antony, Gomathy S,2017, “ Wheeled Scooter,” IEEE transactions on Study on DC-DC Converters for a Pfc industrial electronics, BLDC Motor Drive”, IOSR Journal of Volume. 57, NO. 4 Electrical and Electronics Engineering [24] Karthik, Ashraf, Asif Mustafa Baig (IOSR-JEEE), PP 81-88, ISSN: 2278-1676 And Akshay Rao,2006, “Self Balancing [19] P. Sarala, S. F. Kodad and B. Personal Transpoter” Student Conference Sarvesh,2017, “Power factor correction on Research and Development, PP.180-183 converters for bldc motor drive system: a [25] Pierpaolo De Filippi, Mara Tanelli, comparative evaluation”, ARPN Journal of Matteo Corno, Sergio M. Savaresi, and Engineering and Applied Sciences,Volume Mario D. Santucci,2014,“Electronic 12, NO. 17, ISSN :1819-6608 Stability Control for Powered [20] D. Hazry M. Sofian A. Zul TwoWheelers”, IEEE transactions on Azfar,2009, “Study of Inertial control systems technology, Volume 22, Measurement Unit Sensor”, Proceedings of NO.1

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List of figures and Tables

Fig 1. Monobike initial view

Fig 2. Final view of RYNO

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig3.1 energy distribution of various sources

Fig 3.2 energy consumption during many years

Fig 3.3 Fuel prices estimation

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig 3.4 cost deductions

IV.EXPERIMENTAL WORK 4.1 CONSTRUCTION S.NO. ITEM SPECIFICATION 1. Tyre 145/70 R12 2. Metal sheet Iron sheet 18 gauge 8x4 3. Ss square pipe 4. Ss strip 1.75inch , 5 feet 5. Brake Drum brake Table 4.1 specifications related to bike frame

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig 4.1 tyre

Fig4.2 inside and outside view of brushless dc motor

Fig 4.3 fitting of motor inside rim of the wheel

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig4.4 frame of the monobike

Fig 4.5 modified monobike with different views

BUCK BOOST SPEED BRUSHLESS CONVERTER CONTROLLER DC MOTOR

BATTERY

Block diagram of the functioning of bike operation

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

MPU 6050 ARDUINO UNO SPEED BRUSHLESS GYROSENSOR + MICROCONTROLLER CONTROLLER DC MOTOR ACCELEROMETER

BATTERY

Block diagram for controlling purpose of mono bike Step 1:connection of speed controller to all the components:

Fig 4.6 connection data to all the components From this diagram connections of the speed controller can be done to the rest of the components so as to make the bike in workable condition. And this can be seen in actual project as:

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig 4.7 experimental view

Fig 4.8 block diagram in MATLAB/SIMULINK

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Fig 4.9 output of PID constants

Fig 4.10 step plot

Fig 4.11 input disturbance rejection

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Fig 4.12 output disturbance rejection

Fig 4.13 controller effort

Fig 4.14 control circuit

ELK ASIA PACIFIC JOURNAL OF MARKETING AND RETAIL MANAGEMENT ISSN 0976-7193 (Print) ISSN 2349-2317 (Online); DOI: 10.16962/EAPJMRM/ISSN.2349-2317/2014, Volume 10 Issue 3

Fig 4.15 experimental setup

Table 4.1 overall data

S. NO. PARAMETERS SPECIFICATION 1. Power 1152 watts per sec 2. Mileage 150 km 3. Stability ±10% 4. Overall cost 23,592 rupee