Self Balancing Bike using Reaction Wheel

A self-balancing bike using a reaction wheel is an innovative application of control systems and mechanics. It employs a reaction wheel, which is a spinning disk mounted on the bike's frame, to generate angular momentum to counteract tilting and maintain balance. Here's an overview of how such a system can be designed:

Key Components

1. Bike Frame: The physical structure that houses all components.
2. Reaction Wheel: A heavy, fast-spinning disk mounted perpendicular to the bike's frame. Adjusting its angular momentum stabilizes the bike.
3. Motor: Powers the reaction wheel. A brushless DC motor (BLDC) is often preferred for its efficiency and precise control.
4. Inertial Measurement Unit (IMU): Combines an accelerometer and a gyroscope to measure the bike's tilt angle and angular velocity.
5. Microcontroller: Processes sensor data and sends control signals to the motor. Popular choices include Arduino, Raspberry Pi, or STM32.
6. Power Source: Batteries to power the motor and electronics.
7. Control Algorithm: Implements feedback control (e.g., PID controller) to adjust the reaction wheel's speed.

How It Works

1. Tilt Detection:

   • The IMU senses the tilt angle and angular velocity.
   • The microcontroller processes these values to determine the bike's orientation.

2. Control Signal Generation:

   • A control algorithm calculates the necessary correction based on the tilt.
   • For example, if the bike tilts to the right, the reaction wheel spins in the opposite direction to counteract the tilt.

3. Reaction Wheel Adjustment:

   • The motor adjusts the reaction wheel's angular velocity to produce torque, balancing the bike.

4. Feedback Loop:

   • The system continuously monitors the bike's tilt and adjusts the wheel in real-time to maintain stability.

Steps to Build

1. Design the Reaction Wheel:

   • Choose a material and size that provide sufficient angular momentum. Heavier wheels offer more stability but may require stronger motors.

2. Choose Sensors:

   • Select an IMU with good sensitivity and low noise, such as MPU6050 or BNO055.

3. Develop the Control System:

   • Implement a feedback loop using a PID controller.
   • Tune the PID parameters (proportional, integral, derivative gains) for optimal performance.

4. Motor and Driver:

   • Choose a motor capable of high RPM and torque. Pair it with an appropriate motor driver or ESC (Electronic Speed Controller).

5. Power Supply:

   • Calculate the power requirements and select a battery that can sustain operation for desired durations.

6. Frame and Mounting:

   • Ensure the bike frame is rigid enough to hold components without introducing unnecessary vibrations.

7. Programming:

   • Write code for the microcontroller to process IMU data, compute corrections, and control the motor.

8. Testing and Iteration:

   • Test the bike in a controlled environment and tweak the control system for better performance.