Self balancing bicycle prototype using flywheel(reaction wheel)

Tue, 30 Nov 1999 00:11:00 EST

Hello everybody,
Well I'm a level 4 mechatronics students from Mauritius and doing my project on a self balanced bicycle which uses a flywheel to achieve this.A better view of it can be seen on:
http://www.youtube.com/watch?v=d1Uy7bU6TII
OR EVEN ON:
http://www.youtube.com/watch?v=0312B...eature=related
http://www.youtube.com/watch?v=AvGUu...eature=related

During the past 3 weeks,I've been struggling on calculation of torque(flywheel motor) and I'm stuck.
I have been using the formula T=J*alpha,
where J=moment of inertia and alpha=angular acceleration.

I have assumed overall mass of prototype to be around 2.5 kg,radius of flywheel=5 cm,mass of flywheel=0.5kg,radius of driving wheel=5 cm,max permissible tilting angle=30 degrees.

Could you please help me in selecting my 12V DC motors:flywheel motor(rpm,torque)
Driving motor(rpm,torque)
and flywheel specifications(radius and mass)
and finally if gear box(reduction gear) is needed,its ratio??
Thanking you all in advance.
Best regards

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Self balancing bicycle prototype using flywheel(reaction wheel)