Balance bike + unicycle

Open source link: https://gitee.com/hvan/unicycle (or see attachment)

Video demonstration:

Momentum wheeled one-wheeled self-balancing robot_bilibili_bilibili

Momentum Wheel Balance Bike_bilibili_bilibili

1. Unicycle

The fuselage is fully 3D printed, and the momentum wheel can be 95mm or 70mm. This project uses a brushless motor momentum wheel module.

At present, the balance control algorithm of unicycle robot mainly uses linear control methods, such as PID, synovial membrane control algorithm, LQR

Algorithms and state feedback control algorithms, etc., PID is widely used because of its simple control and does not require precise mathematical models.

A unicycle is equivalent to a combination of a two-wheel balance car and a balance bicycle. It needs to maintain balance on the X and Y axes at the same time. Therefore,

You only need to use the gyroscope data and add the PID in the XY direction to achieve balance and walking. You only need to change the speed loop

Just the target value.

For all open source files, please see the attachment or the link at the beginning of the article.

2. Balance bike

1 Introduction

Source of work:

Momentum wheel self-balancing bicycle STM32_PID (open source - including hardware information)

Borrow the structure of the original author and redesign the software and hardware (based on the HAL library) . If you need 3D files, please go to the link above.

2. List of main materials:

(1), 3D printing frame (you can go to Lichuang 3D Monkey)

(2) Two miniature bearings 2*6*2.5

(3), iron shaft

1.5CM one piece

3CM one piece

(4), toy tires 27mm, 39mm

(5), pulley 13mm

(6), digital steering gear

Notice:

1. If you use the PCB of this project, please select the components according to the BOOM table. The attachment provides the 3D printing file for the connection between the N20 motor shaft and the rear wheel. The N20 motor can be optionally encoded without an encoder (cheap price).

2. The remote control used in the program is: mini remote control - Lichuang EDA open source hardware platform (oshwhub.com)

3. Please see the attached paper for relevant principles.

4. The MCU can be GD32F103C8T6, which is currently relatively cheap.