Self-balancing Vehicle with Single Wheel
Researchers
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Prof. Dr. Sc. Damir Seršić
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mag. ing. ict. Igor Brkić
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mag. ing. eit. Lovre Bošnjak
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mag. ing. eit. Vedrana Baličević
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mag. ing. eit. Mirna Bokšić
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mag. ing. eit. Maja Bellotti
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mag. ing. eit. Maja Štimac
Institutions
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Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia
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BICRO - Business Inovation Centre of Croatia, Zagreb, Croatia
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UTT - Technology transfer office, Zagreb, Croatia
Short Description
The aim of the project was to develop personal self-balancing single-wheel vehicle, which fulfills these requirements: small dimensions, mass and energy consumption, with the possibility of charging the battery from a regular network port or a renewable source. Regulatory and adaptational algorithms and the digital signal processing allow the drive of the vehicle with no learning period.
Results
A functional prototype of the vehicle, shown in Figure 1, was developed during the project.
The vehicle consists of these parts:
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lithium-ferro phosphate batteries
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sensor system for tilt detection implemented as an electronic printed circuit board with accelerometers and gyroscopes
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processor - the central computer system which performs all necessary processing of the data received from sensors
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wheel wi th an electric motor located in its center