DESIGN, FABRICATION, AND MULTIDISCIPLINARY INTEGRATION OF A SELF-BALANCING HYBRID GYROSCOPIC TWO-WHEELED VEHICLE

Arunkumar.V; Ajay.M; Logesh.D; Samuelraj.D

doi:10.5281/zenodo.21130119

Abstract

Traditional two-wheeled vehicles are inherently unstable at zero or ultra-low velocities. This limitation restricts
their integration into autonomous delivery networks, assistive robotics, and narrow-profile agricultural systems
where low-speed or static stability is required. This paper details the design, fabrication, and control engineering
of a hybrid gyroscopic bike. The system employs an active Control Moment Gyroscope (CMG) assembly
featuring a high-speed spinning flywheel inside a controlled motorized gimbal to command precise corrective
precession torques. Propulsion is driven by a 110cc four-stroke internal combustion engine, while the stabilization
stack operates on an independent electrical subsystem backed by a battery and a MEMS Inertial Measurement
Unit (IMU) processing closed-loop Proportional-Integral-Derivative (PID) routines. Engineering calculations
evaluate the moment of inertia, angular momentum, and stored kinetic energy configurations. Experimental testing
verifies that a dual-energy architecture utilizing liquid fuel for propulsion and chemical batteries for mechatronic
balance successfully mitigates low-speed roll failure, showing prominent commercial potential across logistics,
urban transit, and precision farming applications.

Keywords

Self-Balancing Vehicle, Gyroscopic Stabilization, Control Moment Gyroscope, Mechatronic Design, IMU Sensor Fusion, PID Control.

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