self balancing with reaction wheel

Arduino, optical encoder, brushless motor and PID.
After learned a lot :)
• Self balancing triangl...
• Two axis reaction whee...
• Self balancing bicycle...

[@shashisuman8302]

1:23 Anger by the Reaction Wheel

[@hagki]

LoL XD

[@rrangana11]

Great man... can you also please post those helpful links to learn on this to understand for us that helped you as well ?

[@samykamkar]

Nice!

[@rasmus9311]

Not everyday you scroll through comments on a random video and recognize someones name

[@mauricecheung1332]

Very practical, exactly what I need

[@juanserna6170]

Hi, i really would like to know the specs of your brushless motor. You'ld help a lot. :D

[@ReMRC]

search in ebay Nidec 24H677

[@drex5220]

Witch Craft, Voodoo, Black Magic, Spooky, it's got the Devil in it.

[@bd594]

Hi Rem-RC, I am reading up on Arduino timers with regards to the PWM.h library. Do you recommend 8 bit or 16 bit timers? thanks again.

[@ReMRC]

8 bit resolution enough

[@bd594]

Nice to see you have the brake function working without using physical brakes like ones in the Cubli. Have you ever had the reaction wheel shatter in to a million pieces? Is it safe to say you use 100% in-fill. Thanks for sharing a great video.

[@ReMRC]

No, reaction wheel don't shatter. It never happened that way. I use 40% infill. But that's really worth thinking about.

[@bd594]

@@ReMRC Great! I will try building one. Thanks for sharing an excellent build.

[@ohmymemes]

How to do it bro please do video on it please please pleasssssse😩😩😩😩😩😩😩😩😩😩😩😩😩😩😩

[@NiceEyeballs]

1:23 wheel be like: ENOUGH, I will not be bullied with such dull creatures.

[@doxo9597]

Is it possible to see the wire connections?I have acquired the same motor and wish to recreate what you have built. But do not know how to make the other wires work? like the brake function Please if you or anyone could help it would mean a lot.

[@3i33i]

i got the same motor too. Now i have acrylic body & wheel. it seems very hard to make it work.. i hope he teach us how to make it.

[@3i33i]

it looks like the motor has its own encoder right?

[@doxo9597]

erados yeah I think it does, I managed to figure out how it works looking at the data sheet

[@3i33i]

will you do me a favor? i connected 3rd pin to 5V but chA and chB are not sending me a valid signal.. how did you do that?

[@davesircar6757]

@@doxo9597 I acquired a Nidec 24H677, however, I can't find a data sheet. Could you kindly provide a link to the data sheet?

[@용용-d4v]

Hello, we are making a similar model now and we would like to get some help. Can I share the code?

[@brandonbreault6243]

Is there any chance you could make a build video, share the .STLs and code for us that would like to try this at home?

[@brandonbreault6243]

@@bd594 thank you so much! I honestly never expected there to be a response and you came in to save the day!

[@RGDot422]

Hi. I don't understand the physics behind this, is it angular momentum and gyroscope presecion?

[@ReMRC]

Gyroscope precession - no. This is reaction wheel. It works by creating a torque through changing its momentum.

[@RGDot422]

@ReMRC hi. I was reading a bit more yesterday. I believe it works just generating a torque in the wheel opposite to the torque of the weight, is it right?...

[@ReMRC]

@@RGDot422 If you rotating the weight, you get the torque in opposite direction.

[@davesircar6757]

Impressive work! I stumbled upon your project while trying to build a cubli. Did you implement your PID as given by the cubli authors or did you implement your own PID algorithm?

[@remigijuss.7987]

Own PID. This is simple, like balancing robot on wheels.

[@arunfernandez1999]

We can make a self balancing vehicle like one wheel solo with this mechanism in x direction and y direction it can balancing I think a sphere ball shaped wheel and inside the sphere x and y direction balancing flywheel like Rubik's cube

[@arupsarkar6836]

Very nice work done.

[@swallowjja]

can I know this body's weight?

[@bd594]

Hello, for your PID did you use 6050 raw data, Euler or Quarternions? thank you

[@ReMRC]

Raw data. But any way would suit.

[@bd594]

@@ReMRC thanks again ReM-RC

Hello may i contact you about this project ?

[@bloon104]

Inb4 this gets recommended to everyone in 3 to 4 years

[@forbiddenera]

Share code?

[@forbiddenera]

Cmonnn

[@onekamil]

how it works? spinning change direction? rc motor can be ok to this test? if you could share your codes ? i want somethink like that build to keep balance for idea disabled

[@ReMRC]

Reaction wheel is a heavy flywheel which has angular momentum when rotated. No, rc motor not suitable for this.

[@mn123abc]

Hello, I notice the two LED's and one just flickered. I guess they are triggered when the motor changes direction and is used for tuning the PID? Also can you let me know what the wireless board is used for? Thanks again. BTW I like your balancing pyramid video!

[@ReMRC]

LED's indicates how incremental encoder works. It shows motor rotation direction. Wireless? Bluetooth module.

[@londonnight937]

If the wheel is spinning at some random speed, and the arduino wants to slow the wheel down, in order to balance... how does it do that? Does it use the electronic brake for a very short amount of time, or does it try to spin the motor backwards for a very short amount of time?

[@ReMRC]

Yes, if needs wheel braking, it produce force which is not needed. In this case it need to lean to the other side. Not need to use the motor brake.

[@lolslim690]

I am curious on what infrared/speen sensor you are using to register ever slot with it spinning that fast, and is it acting as an encoder for the motor?

[@ReMRC]

Why not? Yes, I use it as encoder for the motor.

[@emrepehlivn]

can you share the project files. Ardunio and stl please

[@ReMRC]

Very old project. Maybe later I'll make a video of I did one of the newer projects.

[@NZ-fo8tp]

It works without the encoder because it really the angular acceleration that imparts the torque on the system to stabilize, so as long as the motor is reasonably controllable in an open-loop config, a standard PD controller can stabilize the system even with a nominal consistent spin in the reaction wheel. The problem is that if that nominal consistent spin grows faster and faster it will eventually saturate the motor, (reach its maximum speed) at this point it cant offer as much torque as it cant accelerate in 1 direction. The encoders help the controller minimize nominal spin before it becomes a problem. It's unavoidable though, in spacecraft this saturation happens throughout a mission, on small spacecraft without gas thrusters, we can use magnetometers to dump kinetic energy into earth's magnetic field, it's painfully slow though, it can take hours to days depending on the inertial properties of your satellite. Look up B-dot control the process is simpler than you would think.

[@ReMRC]

In this case it works without the encoder because I didn't use it correct. :) You can watch my later videos, I learned a lot.

[@bonafide9085]

why do you use optical encoder if your motor already has some hall effect encoder?

[@ReMRC]

This motor without encoder.

[@raymondcowey1041]

Please Correct me if I am wrong but I am not convinced this project is as straight forward as suggested. Do I spy a Blue Tooth module on the control board (not listed in components, what is it for?) Also, I don't see the need for the encoders if you can disconnect them and the wheel still balances when actually the only critical component is the MPU6050

[@ReMRC]

BT is for PID tuning. This project is first try with reaction wheels. Yes, encoders is not important, but only if know what are doing. You can see my later videos. I did a lot of experimentation and gained a lot of experience. Another projects is many better...

[@raymondcowey1041]

@@ReMRC Thank you so much for your explanation. Perhaps I just could not see the wood for the trees

[@benji376]

I would absolutely love to learn this

[@drumbum7999]

so your motor has an encoder and you also created an encoder for the outside wheel too? if so, why?

[@ReMRC]

No, motor without encoder

[@Three2NineProject]

Good job

[@BR.]

Love it! Do you have some code public for us to study?

[@twokool4skool129]

Looks great. If the BLDC included a controller with a speed signal output pin, why did you instead use an external optical encoder? Couldn't you have used the motor's output?

[@ReMRC]

This motor without encoder.

[@twokool4skool129]

@@ReMRC But you said in another comment that you used the Nidec 24H677. I looked up the specs and one of the pins is pulsed speed output. Is that an optional feature that yours didn't have?

[@ReMRC]

@@twokool4skool129 HALL output as pulse? Very low resolution. But this motor comes with or without an encoder.

[@danielthrana]

That's a really nice accomplishment. Could you explain to me why you need an optical encoder? Can't you just tell the PID to use the pwm signal given to the motor?

[@russellrose8161]

Dan s if he uses a brushless motor this likely will need its own motor controller for it. This esc has its own pid controller in it, making it tough to correlate motor speed to output

[@ReMRC]

@@russellrose8161 This motor have controller inside, and I use pwm to control speed.

[@ЮрийМел-в2о]

perfect

[@mn123abc]

great video! When the reaction wheel is balancing do you apply the brake on the Nidec motor before changing direction? thank you.

[@ReMRC]

When balancing - no. I apply brake only when it fall.

[@mn123abc]

@@ReMRC hello, I have the motor running @ 25Khz with a duty cycle from 1% to 90% and it spins very fast at 1%. To get yours to stand up do you run full speed/brake and then reverse the direction? or do you run full speed and reverse direction? I only have one motor so I want to ensure I do it your way. Still working on the reaction wheel design in TinkerCad. Thanks ReM-RC for your guidance. :)

[@ReMRC]

@@mn123abc I did a lot of experiments. As well as full speed and reverse direction. But not necessarily full speed. Just as much as needed...

[@mn123abc]

@@ReMRC Once I add some weights to my reaction wheel (ie nuts and bolts) I will try different speeds and see what works best. Once that is done I will focus on the balancing with the MPU6050. thank you

[@deant6168]

hi, Im looking to build a Cubli and came across your video, very cool, could you possibly share your code, motor specs with me, thanks

[@remigijuss.7987]

12V 4800rpm Nidec Brushless Motor from Ebay.

[@deant6168]

thanks, hey I've been looking for a way to controller them forward and reverse, did you make your own speed controller?

[@ReMRC]

This motor with controller inside.

[@piyushbisen6513]

How to make it

[@pieroggg4216]

Nice!your project is open?

[@ReMRC]

Source? No, sorry. :) I leave the opportunity to create and learn...

[@bd594]

kzbin.info/www/bejne/rKK5Z6GXr8ajfLM

[@LV2XPLR]

Neat project. Would you have the STL files for the 3d printed parts? If not, can you tell me the approximate diameter of the wheel? Also, what you used for weights on the wheel. Thank You!

[@remigijuss.7987]

Wheel printed. For weights i use 4mm bolts. :) Wheel diameter 90-100 mm. I tried different diameters... The bigger the better.

[@mihai3343]

Nice work! How did you find the PID parameters? Did you use a mathematical model or just trial and error?

[@remigijuss.7987]

Yes, trials and errors

[@PacoOtis]

Did an adult review this video prior to release??