More info on the Leviskate may be found at www.electricunicycle.com as footage is generated and additional documentation is generated.
Well, the cummulation of a couple of years of late nights has paid off. Most of the work was in developing a 60V 2KW tilt/controller and motor driver. What they say about designing your own motor controller is true .... DONT! (unless you have 2 years, money, and enjoy radical explosions and fire)
Basically, it's a teeter-totter servo on a go-cart wheel. The wheel provides lateral stability and turning via tire deformation. An inertial system provides forward backward stabilty through wheel rotation. A PID servo monitors the error from the balance point (vertical vector from earth) and rotates the wheel in the propper direction to maintain balance. It makes correcting decisions 200 times per second. A Kalman filter merges an accelerometer and a gyro as niether sensor alone can provide reliable tilt information at the rates needed. The mechanical system employs a balanced arangement of motor, wheel and tappered batteries. Chain drive allows correct gear reduction for necessary torque. Torque counteracts tilt. Torque is acceleration, the deriviative of velocity. Velocity is proportional to motor voltage in the armature.
Trossen FSR sensors provide safety activation and deactivation. With BOTH feet on the platform, rotating through vertical engages the vehicle. When BOTH feet are gone, the rider is missing and active braking (motor shorting) stops the riderless mass of momentum quickly. Obviously, no air tricks with this heavy machine.
Heres the footage:
Hope you like it - it is a blast to ride!