Analysis of Solar Powered Self Balancing Vehicle

International Journal of Innovative Research in Advanced Engineering (IJIRAE) ISSN: 2349-2163
Issue 11, Volume 4 (November 2017) www.ijirae.com
ANALYSIS OF SOLAR POWERED SELF BALANCING

VEHICLE
Prof. Chetan V. Papade*, Akshay R. Hiremath
Department of Mechanical Engineering,
N.K. Orchid College of Engineering and Technology,
Solapur (M.H.) INDIA
cvpapade@gmail.com, akshayhiremath9@gmail.com
Manuscript History
Number: IJIRAE/RS/Vol.04/Issue11/NVAE10090
DOI: 10.26562/IJIRAE.2017.NVAE10090
Received: 25, October 2017
Final Correction: 02, November 2017
Final Accepted: 15, November 2017
Published: November 2017
Citation: Papade, P. C. V. & Hiremath, A. R. (2017). ANALYSIS OF SOLAR POWERED SELF BALANCING
VEHICLE. IJIRAE::International Journal of Innovative Research in Advanced Engineering, Volume IV, 43-50.
doi: 10.26562/IJIRAE.2017.NVAE10090
Editor: Dr.A.Arul L.S, Chief Editor, IJIRAE, AM Publications, India
Copyright: 2017 This is an open access article distributed under the terms of the Creative Commons Attribution
License, Which Permits unrestricted use, distribution, and reproduction in any medium, provided the original author
and source are credited
Abstract The solar powered self-balancing vehicle is a two wheeled vehicle which uses solar energy stored in
battery to run its motor and attain acceleration. It is convenient form of transport without consuming fuels. Self -
balancing vehicle is a two wheeled vehicle which balances itself in air vertically with reference to the ground. This
vehicle is designed to mirror the process of walking and can be used for inspection purpose in the malls and
offices. With solar energy as source of energy self-balancing vehicle technology and related uses of non-motorized
transportations, a long term solution is to establish dedicated on-motorized lanes in urban environment, which
will promote more energy efficient and environment friendly travel means. In this research solar energy is used as
a source of fuel. A D.C motor is driven by solar energy. Solar energy is a natural resource available free of cost and
in adequate quantity. The balancing of vehicle is achieved by the weight balance on the platform plate at the static
condition and the action of inertia forces in the dynamic state. This vehicle is capable of moving with the speed of
30 Km/hr.
Keywords Self-balancing; solar panel; solar energy; motor controller; throttle;
I. INTRODUCTION
In this research, the solar energy is used to run self-balancing vehicle by help of various electric components. Self-
balancing vehicle is the vehicle which balances itself in air with reference to the ground. Self-balancing is achieved
by using mechanical components. In Solapur region the intensity of sunlight is 1013*100 lux. The main objective
of Solar powered self-balancing vehicle is to reduce the cost and make it high efficient for the use of human
being with help of solar energy. To prepare a self-balancing vehicle without using complex and electronics parts
such as microcontroller, gyro sensors, etc. For the better performance of the vehicle we need batteries which are
charge by solar panels and solar station. Also the vehicle is designed for the inspection and security purpose. The
indoor applications o f the vehicle is rarely visible to us. Nowadays the individual shopping markets are closing
drastically and the concept of big shopping malls is increasing in metro as well as in small cities. So its crating the
problem of walking from small children to the senior citizens. Hence to reduce the human effort and to making the
mirror of walking process the idea of self-balancing vehicle with help of solar energy came into the picture.
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To avoid the consumption of fuels such as petrol, diesel etc. to drive the vehicle the decision to use solar energy is
generated. The increase in the prices of the non-renewable energy sources is making the high impact on the
vehicle usage so it is more reliable to use the renewable energy sources. With the commercialization of solar
powered self-balancing vehicle, it is possible to make the better use of solar energy. The self-balancing vehicle is
present in the market and has high cost because of various sensors to balance it but in our vehicle the self-
balancing is completely achieved mechanically. The use of five pin throttle enhances the better acceleration of the
vehicle whereas the use of solar energy eliminates the cost of fuel. So, to reduce the human effort of walking the
large distances and as it is cost effective, this product is affordable in less price to the society. The speed of self-
balancing vehicle achieved is 30 kmph.
II. DESIGN OF SYSTEM
The design of the each component of the proposed system is explained in detail here. While designing of each
component namely motor, battery, solar panels, sprocket, fabrication is also taken into care and also specification
of each component is also explained after the design of each component. In given CATIA model shown below
actual mounting of components assembly and positioning of manikin with certain reference in vehicle. Several
design considerations are to be made while designing of any system. The maximum speed of these kinds of
vehicles is 20 to 40 kmph. So we have considered a top speed of 30kmph for the design of this vehicle. To develop
this system main components are used Motor, Motor controller, Battery, Shaft, Chain sprocket , Wheel, Handle bar,
Ball bearing & pedestal bearing. To obtain the total weight of vehicle we have done summation of weight of
individual components.
Fig.1 CATIA model of vehicle
TABLE I - WEIGHT OF INDIVIDUAL COMPONENTS

Components Quantity Total weight(kg)
Platform 1 12.5
Primary Battery 2 16
Secondary battery 2 6
Motor 2 5
Motor controller 2 0.25
Wheel 2 13
Shaft 2 1.5
Pedestal bearing 4 3.5
Chain & sprocket 2 1.6
Handle bar 1 0.5
Total weight 60.5 Kg
Estimation of speed of motor

Selection of dc motor is done in following way.Required speed is 30 kmph normally (optimum speed requirement)
V=( )/6 .................................................................................... (1)
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Estimation of tractive effort and wheel torque
N = 441.9 rpm.
This is the total force required to run the vehicle against the road resistance, gradient resistance and force of
acceleration.
This can be given as,
Total tractive effort (TTE) = RR + FA. ....................................................... ..(2)
a. Road Resistance
RR = W * Crr .............................................(3)
Crr = coefficient of road resistance.
RR = 33.04 N.
b. Force of Acceleration.
FA = W * Vmax / (32.2 * ta) .........................................................................( 4)
Vmax = maximum velocity of the vehicle
ta = time required by the vehicle to achieve the maximum speed.
FA = 6.35 N.
TTE = RR + FA
TTE = 39.39N 40 N
c. Wheel Torque (Tw)
Tw= TTE * Rw ......................................................(5)
Tw = 7.2 Nm.
d. Estimation of motor power requirement

P =(2 * * N * Tw) / 60 ......................................................(6)
P =339 watt.
This is the actual power required to run a single dc motor. As motor of 339 watt is not easily available in the
market so motor of next standard wattage i.e. 350 watt is used. As per the vehicle requirement two motors of 350
watt power are used.
Selection of balancing wheels
The purpose of these wheels is to balance and prevent the fall of vehicle hence selection of wheels must be such
that it could easily sustain the weight of the entire vehicle with driver. So wheels selected are made up of mild
steel material which can bear a load up to 300kg. 4 wheels are mounted below the platform 2 at rear side and 2 at
front side. Positioning of wheels are set in such a way that it gives opportunity to balance at platform without
supporting balancing wheels.
Selection of platform material
Fig. 2 Analysis of platform under stress Fig. 3 Analysis of platform under deformation
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The main purpose of platform is to sustain the load which is applied through system and human load hence we
selected different material and analyzed different material of various thicknesses hence finalized mild steel
material of 4mm thickness. Above Fig. 2 shows analysis of platform under stress, done in R15 workbench which
shows that selected material is safe. Where load applied over material is 120 kg which is converted in newton &
load applied over platform is at center. Fig. 2 also shows equivalent stress developed in material which is below
the maximum stress developed over plate. In Fig. 3 is analysis of platform under deformation. Total deformation
of material is observed where load is applied centrally over platform which is under safe condition and maximum
deformation is within limit.
Flow diagram
In given fig. 4 shows flow diagram of electrical connections used in this system. The solar radiations from the sun
are used by solar panels to charge the batteries. There are two sets of batteries and each set is having two
batteries connected in series. Each set of battery is used to run the individual motor. A motor controller is used to
provide variable acceleration to the motors and also helps in turning of the vehicle. The turning is achieved by
using turning switches.
Fig.4 Flow diagram of connection

Motor controller
A suitable motor controller i.e. 24 V 350 Watt MY 1016a motor controller is used for controlling speed variations
of motor.
Specifications of motor controller:
Rated Voltage : Dc 24 V
Current Limit : 33A
Rated Power : 350 W
Matching Motor : Dc Brushed Motor
Under Voltage Protection : 20 V
Technical Specifications
1) Max Load Carrying Capacity :125kg
2) Maximum Speed : 30 km per hour
3) Power Consumption : 0.56 KW/Kmhr
4) Battery
a) Type : Lead Acid Sealed
b) Capacity : 26 AH
c) Voltage : 12 volt
5) Charging Time
a) For Solar : 6 hours
6) Inlet Voltage : 24 Volt (Two batteries connected in series)
_________________________________________________________________________________________________
7) Motor Type : D.C. brushed motor

8) Rated Power to Motor : 350W
9) Torque : 7.2 NM AT 450R.P.M.
III. SOLAR POWERED SELF BALANCING VEHICAL

The experimental set-up of solar powered self -balancing vehicle is shown in below figure, the experimental
set-up consist of solar panel, battery, motor, motor controller, shaft, wheels. In this experimental setup 350W D.C
motor is used to run the vehicle. A D.C motor is driven by solar energy. Solar energy is a natural resource available
free of cost and in adequate quantity. The balancing of vehicle is achieved by using balancing wheels and other
functions are carried out by using different electrical components. Whereas for turning and braking two separate
switches are used which is connected to motor controller which controls speed of motor? A motor controller is
attached at lower side of platform. Here battery, motor &pedestal bearing is mounted over platform. And using
chain sprocket system transmission system is done and transmission is done to separate wheels using shaft.
Fig. 5 Experimental set-up

Throttle is a device controlling the flow of power to an engine. In this system the throttle used is to vary
acceleration of the motor. The throttle used in this system is a five pin throttle means there are five pins at the end
of throttle wire which are connected to motor controller pins. Throttle valve is generally used for opening and
closing of power supply. Fuse is a safety device consisting of a strip of wire that melts and breaks an electric
circuit if the current exceeds a safe level. Automotive fuses are a class of fuses used to protect the wiring and
electrical equipment for vehicles. Also, ampere of fuse selected should be 3 to 4 times of full load operating
current rating of motor so we have used a 80amp fuse box in our connection.
IV. RESULTS & DISCUSSION
In this testing of solar panels and vehicle is done, where for testing of the solar panels the intensity and power
from the solar panels is tabulated and results are discussed. Same is for charging time for battery, running time of
vehicle is obtained and results are discussed. Performance analysis of motor with respect to load. The
performance testing of vehicle was done by varying load over vehicle. These results are plotted in the graph of
speed vs load.
Fig. 6 Speed vs. load of vehicle
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Testing of Solar Panels

The testing of solar panels is done to know the voltage, current & solar intensity. Performance testing of vehicle is
done.
Solar panels of 40 W connected in parallel
TABLE II - EXPERIMENTAL READING OF 40 WATT SOLAR PANELS CONNECTED IN PARALLEL (DAY 1)
Time (t) Solar intensity (lux) Voltage (v) Current (a) Watt (v*a)
10:15 302*100 13.80 0.68 9.38
10:45 503*100 16.50 0.69 11.38
11:15 885*100 17.70 0.7 12.39
11:45 845*100 19.70 0.8 15.76
12:15 992*100 21.70 0.92 19.96
12:45 996*100 20.60 1.13 23.27
1:15 1013*100 20.00 1.16 23.22
1:45 1015*100 19.40 1.09 21.14
2:15 1019*100 18.90 1.01 19.08
2:45 995*100 18.50 0.97 17.94
3:15 998*100 17.10 0.91 15.56
3:45 850*100 16.70 0.83 13.86
4:15 992*100 16.20 0.74 11.88
4:45 996*100 14.90 0.68 10.13
Above table II explain reading of 40 W solar panels connected in parallel where voltage remains constant and
current gets added were maximum wattage is obtained at 12:45 which is 23.27 W & lux intensity is 996*100.
TABLE III - EXPERIMENTAL READING OF 40 WATT SOLAR PANELS CONNECTED IN PARALLEL (DAY 2)
Time (t) Solar intensity (lux) Voltage (v) Current (a) Watt (v*a)
10:15 300*100 14.81 0.66 9.77
10:45 503*100 15.86 0.66 10.46
11:15 885*100 16.77 0.75 12.57
11:45 845*100 18.33 0.82 15.13
12:15 990*100 18.82 0.93 17.50
12:45 991*100 19.10 1.1 21.01
1:15 1013*100 19.86 1.23 24.42
1:45 1015*100 20.23 1.16 23.46
2:15 1019*100 19.71 1.06 20.89
2:45 995*100 18.83 0.9 16.94
3:15 998*100 17.63 0.94 16.57
3:45 850*100 17.10 0.86 14.70
4:15 992*100 16.71 0.78 13.033
4:45 996*100 15.3 0.72 11.01
From above table III shows performance for 40W solar panels which are connected in parallel. Where maximum
power is obtained at 1:15 pm which is 24.42W at lux intensity of 1013*100.
MATLAB interface for graph generation for 40W solar panel
A graph has been plotted as power vs. time of 40W panels which are connected in parallel and performance is
tested for 2 days as shown in graph. The graph shows time interval of 30 min.
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Fig. 7 Graph of 40 W panels connected in parallel
V.CONCLUSIONS
By reducing many electronic components and due to addition of mechanical components cost of vehicle is
drastically reduced. In the course of this research, the design and fabrication of vehicle was done. The attempt to
change the existing design of self balancing vehicle was successfully completed. This research was implemented
with an idea to find an effective solution to transportation problem. The main objective is to achieve space
utilization and minimize the fuel consumption especially for commuting over shortest distance. Balancing is done
mechanically by eliminating accelerometer and gyro sensor. By eliminating tilt-sensor and addition of throttle grip
more sophisticated handling is obtained. Maximum speed achieved by the vehicle is 30 km/hr.
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International Journal of Innovative Research in Advanced Engineering (IJIRAE) ISSN: 2349-2163

Issue 11, Volume 4 (November 2017) www.ijirae.com

ANALYSIS OF SOLAR POWERED SELF BALANCING

Fig.1 CATIA model of vehicle

TABLE I - WEIGHT OF INDIVIDUAL COMPONENTS

Estimation of speed of motor

Estimation of tractive effort and wheel torque

d. Estimation of motor power requirement

Selection of platform material

Fig.4 Flow diagram of connection

7) Motor Type : D.C. brushed motor

III. SOLAR POWERED SELF BALANCING VEHICAL

Fig. 5 Experimental set-up

Fig. 6 Speed vs. load of vehicle

Testing of Solar Panels

Fig. 7 Graph of 40 W panels connected in parallel

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