Inverted Pendulum + Reaction Wheel = Autonomous Stabilized Bicycle
Channel: Gunnar
Date: 2012-03-15

Autonomous Bicycle stabilized by an accelerated reaction wheel and
modelled as an inverted pendulum:

This diploma thesis is about balancing a standing bicycle. Stabilizing this one-track vehicle was modelled on the basis of an inverted pendulum which also served as preliminary study on controlling algorithms and on the applicability of electronic equipment utilized in the later campaign.
Measured state variables being crucial for the controlling are listed below:

- Inclination angle of the pendulum / bicycle
- Angular speed of the pendulum / bicycle
- Speed of rotation of the wheel

Rotation of the reaction wheel is measured by an optical incremental encoder which is attached to the shaft of the Faulhaber DC-Motor. The supply voltage to the DC-Motor controls the speed of rotation of the wheel. It is provided by a 24V lead battery. An H-Bridge regulates the turning direction and the required voltage by a pulse width modulation. The motor equation gives information about the current, which is proportional to the torque. The Torque of the reaction wheel minimizes any angular pitch which is measured by the inertial measurement unit CHR-6d. Good stabilization results were achieved with a Classical Riccati Controller.