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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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