Self Balancing Electric SkateBoard

Presented by Tejas Bhandarkar Priyanka Kadam Sayali Bilaye Vidisha Naik

Under the guidance of: Mrs .Kanchan Sarmalkar

(H.O.D Dept. Of Instrumentation)

Contents
Introduction Requirements Designing Scope of Project

Introduction
Twin wheeled skateboard that works like a Segway. 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.

 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

Requirements
Accelerometer Gyroscope Lithium ion batteries 2 wheels Motors with better torque

ACCELEROMETER
An accelerometer measures proper acceleration, which is the acceleration it experiences relative to freefall and is the acceleration felt by people and objects.

Most accelerometers are Micro-ElectroMechanical Sensors (MEMS). The basic principle of operation behind the MEMS accelerometer is the displacement of a small proof mass etched into the silicon surface of the integrated circuit and suspended by small beams.

 Consistent with Newton's second law of motion (F = ma), as an acceleration is applied to the device, a force develops which displaces the mass.

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.

GYROSCOPE
A gyroscope is a device for measuring or maintaining orientation, based on the principles of angular momentum. Mechanically, a gyroscope is a spinning wheel or disc in which the axle is free to assume any orientation. Although this orientation does not remain fixed, it changes in response to an external torque The device's orientation remains nearly fixed, regardless of the mounting platform's motion, because mounting the device in a gimbal minimizes external torque.

 Gyroscopes based on other operating principles also exist, such as the electronic, microchippackaged MEMS gyroscope devices found in consumer electronic devices, solid-state ring lasers, fibre optic gyroscopes, and the extremely sensitive quantum gyroscope.

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.

Motors
Motors are electric scooter motors from toy scooters. These are 250Watt 24V each and come with an 11 tooth sprocket already fitted which has teeth spacing that matches those on the wheel sprockets conveniently. We can try 300 watt ones

Designing
Designing a suitable microcontroller Designing a hand controller

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.

Arduino Mega 2560

Features of Arduino Mega 2560

Microcontroller Operating Voltage Input Voltage (recommended) Input Voltage (limits) ATmega2560 5V 7-12V 6-20V 54 (of which 15 provide PWM output) 16

Digital I/O Pins

Analog Input Pins

DC Current per I/O Pin

40 mA

DC Current for 3.3V 50 mA Pin

Flash Memory
SRAM EEPROM Clock Speed

256 KB of which 8 KB used by bootloader 8 KB 4 KB 16 MHz

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.

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

Scope Of Our Project

Segway

Short Distance Travelling

Skateboarding as an hobby

Bibliography
http://arduino.cc/en/Main/arduinoBoardMe ga2560 http://en.wikipedia.org/wiki/Accelerometer http://en.wikipedia.org/wiki/Gyroscope