CN105730586A - Two-wheel self-balancing car control system in two-control mode - Google Patents
Two-wheel self-balancing car control system in two-control mode Download PDFInfo
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- CN105730586A CN105730586A CN201610140141.2A CN201610140141A CN105730586A CN 105730586 A CN105730586 A CN 105730586A CN 201610140141 A CN201610140141 A CN 201610140141A CN 105730586 A CN105730586 A CN 105730586A
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- 230000005484 gravity Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a two-wheel self-balancing car control system in a two-control mode and relates to self-balancing cars. The two-wheel self-balancing car control system in the two-control mode comprises a main controller, an attitude sensor, two speed sensors, a left motor, a right motor, a motor driving module matched with the motors, a power system, a manual remote controller and a Bluetooth module. The output end of the attitude sensor and the output end of the speed sensor are both connected with the input end of the main controller. The output end of the main controller is connected with the input end of the motor driving module. A master machine of the Bluetooth module is connected with the output end of the manual remote controller. A slave machine of the Bluetooth module is connected with the input end of the main controller. An output shaft of the left motor and an output shaft of the right motor are both connected with the speed sensor. The output end of the motor driving module is connected with the motors. The power system is composed of three power modules which are connected with the motors, the main controller and the manual remote controller correspondingly. The manual remote controller is provided with a control handle for controlling the travelling speed and steering, a locking key and an unlocking key. The flexibility of a self-balancing car is improved, and thus the car can easily complete the functions of receding, insitu steering, locking, unlocking and the like.
Description
Technical field
The present invention relates to Self-Balancing vehicle, especially relate to the double-wheel self-balancing vehicle control of a kind of double control mode.
Background technology
At present, energy-conserving and environment-protective theory is rooted in the hearts of the people gradually, uses electric motor car to become a kind of fashion, can drive a Double-wheel self-balancing car and more can attract other people's sight.Present Self-Balancing vehicle system is all be only limitted to rely on single gravity center of human body to adjust the walking controlling car mostly, single power supply is powered, and the ageing deficiency of control algolithm, this makes the flexibility ratio of Self-Balancing vehicle decline, process not in place for retrogressing, pivot stud, the special status such as lock and unblank, bring inconvenience to user.
Chinese invention patent application number 201410786404.8 discloses the quick control method of a kind of Self-Balancing vehicle, propose the combination of actions by turning-bar and change the control program of vehicle body attitude, make the more convenient to operate of car, it is possible to quickly realize corresponding function.But the program is disadvantageous in that: consider only the operation ease in the moment such as car startup and stopping, have ignored and Body Control mode and control algolithm etc. are carried out globality optimization, therefore the program cannot solve Self-Balancing vehicle retrogressing and in special circumstances such as narrow road section turn to.
Summary of the invention
It is an object of the invention to provide the double-wheel self-balancing vehicle control of a kind of double control mode, the program employs two kinds of control modes and efficient control algolithm, greatly improve the motility of Self-Balancing vehicle so that car can complete retrogressing, pivot stud easily, the function such as lock and unblank.
For reaching object above, the technical solution adopted in the present invention is as follows:
The double-wheel self-balancing vehicle control of a kind of double control mode, including motor drive module, power-supply system, manual controller and bluetooth module that master controller, attitude transducer, 2 velocity sensors, 2, left and right motor, motors are joined；
Described attitude transducer, velocity sensor outfan all connect master controller input, master controller output termination motor drive module input, the main frame of bluetooth module connects manual controller outfan, bluetooth module connect master controller input from machine, 2 motor output shafts in left and right all connect velocity sensor, motor drive module output termination motor；Described power-supply system is made up of 3 power modules, and 3 power modules connect motor, master controller and manual controller respectively；Described manual controller be provided with control the speed of travel and the control crank that turns to and lock, button of unblanking.
When the present invention uses, comprise human body attitude control mode and remote manual control mode.Described human body attitude control in comprise car body uprightly control, travelling control, course changing control；Described human body attitude control in car body uprightly control to be the basis of this control system, when overall center of gravity with vertical direction within-10 ° to+10 ° time, be set as erectility；Travelling control is set to when overall center of gravity and vertical direction are less than-10 ° or more than+10 °, and car starts walking, more fast beyond the more big travel speed of angular amplitude, and when less than-50 ° or more than+50 °, car is out of service；Course changing control in the control of described human body attitude is that the speed discrepancy utilizing two wheels realizes, and the more big radius of turn of speed discrepancy is more little；
The priority of described remote manual control mode is higher than human body attitude control mode, mainly act on travelling control and the course changing control of car, not to being uprightly controlled, walking can be applied the control that moves forward and backward of friction speed shelves, any semidiameter turn control can be carried out to turning to, when two wheel same rates rotate backward, it may be achieved 360 ° of original places rotate；
Compared with prior art, the method have the advantages that
(1) the double-wheel self-balancing vehicle control of a kind of double control mode of the present invention, adopt human body attitude to control and two kinds of control modes of artificial remote manual control combine, human body attitude is used to control when normal road condition is ridden, when needs pivot turn, retreat traveling, during the special status such as lock and unblank, remote controller is used to carry out assist control so that Self-Balancing vehicle tackles various situation flexibly, and controllable property is greatly improved；
(2) accurately efficient combination type pid control algorithm is used, speed ring adopts PI to control specifically, and angle ring adopts PD to control, and motor synchronized ring in left and right uses P to control, three running state information of car body are carried out PID arithmetic, improves the control accuracy of Self-Balancing vehicle；
(3) by gathering motor speed and body gesture information structure two paths of signals feedback circuit, reduce further control error；
(4) adopt multiple feed pattern, solve motor brought contradiction different from controller utilization voltage and the problem interfered, improve the stability of system；
(5) the L298N motor with Phototube Coupling and LED light is selected to drive plate, not only increase interference free performance, simultaneously by observing the state of LED, the information transmission situation of each passage of monitor in real time, debugging and the control of Self-Balancing vehicle are had great convenience by this；
(6) present invention comprises human body attitude control and remote manual control.Human body attitude control in comprise car body uprightly control, travelling control, course changing control；Described human body attitude control in car body uprightly control to be the basis of this control system, may be designed as when overall center of gravity with vertical direction within-10 ° to+10 ° time, be set as erectility；Travelling control is set to when overall center of gravity and vertical direction are less than-10 ° or more than+10 °, and car starts walking, more fast beyond the more big travel speed of angular amplitude, and when less than-50 ° or more than+50 °, car is out of service；Course changing control in human body attitude control utilizes the speed discrepancy of two wheels to realize, and the more big radius of turn of speed discrepancy is more little；The priority of remote manual control mode is higher than human body attitude control mode, mainly act on travelling control and the course changing control of car, not to being uprightly controlled, walking can be applied the control that moves forward and backward of friction speed shelves, any semidiameter turn control can be carried out to turning to, when two wheel same rates rotate backward, it may be achieved 360 ° of original places rotate.
Described manual controller is provided with button of locking and unblank, can lock to car and unblank to be remotely controlled.
Preferably: adopting bluetooth to carry out transmission of control signals, effective propagation path is ten meters.
Accompanying drawing explanation
Fig. 1 is the global design block diagram of the embodiment of the present invention；
Fig. 2 is the control principle block diagram of the embodiment of the present invention；
Fig. 3 is the control program flow diagram of the embodiment of the present invention；
Flow chart is interrupted in the control that Fig. 4 is the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Referring to Fig. 1, motor drive module 50, power-supply system (not shown), manual controller 60 and the bluetooth module (not shown) that this system includes master controller 10,20,2 velocity sensors 30 of attitude transducer, 2, left and right motor 40, motor are joined.The outfan of described attitude transducer 20, velocity sensor 30 and manual controller 60 all connects master controller 10 input, master controller 10 output termination motor drive module 50 input, bluetooth module input connects manual controller 60 outfan, bluetooth module output termination master controller 10 input, 2 motor 40 output shafts in left and right all connect velocity sensor 30, motor drive module 50 output termination motor；Described power-supply system is made up of 3 power modules, and 3 power modules connect motor 40, master controller 10 and manual controller 60 respectively；Described manual controller 60 be provided with control the speed of travel and the control crank that turns to and lock, button of unblanking.
Under normal riding condition, by the adjustment of human body attitude, after attitude transducer on car mould detects the change of car mould attitude, attitude signal is passed to master controller, the rate signal that master controller provides in conjunction with the velocity sensor installed on electric machine main shaft carries out PID arithmetic, then obtained control information is transferred to motor drive module, then drives module according to driving signal that motor is carried out PWM control so that it is to respond the control of human body attitude while being kept upright；When needs retreat and travel with pivot turn, controlling to be difficult to achieve the goal only by human body attitude, at this moment the remote controller that can pass through in hands applies to control, and control signal passes through Bluetooth transmission to master controller.
The host-host protocol of remote signal can sets itself, transmit different instruction codes and represent different action requests, such as, when after the upper locking key pressed on remote controller in native system, send out " LOCK " instruction to the master controller on car, then master controller stops the response every other action except instruction of unblanking, and particularly noteworthy is instruction inefficacy of locking under transport condition.
Referring to Fig. 2 and 1, master controller 10 primary recipient three road signal, one tunnel is attitude transducer signal (being sent by described attitude transducer 20), one tunnel is speed sensor velocity measurement signal (being sent by velocity sensor 30), and an other road is remote signal (being sent by manual controller 60).After receiving this three roads signal, master controller 10 carries out rapid computations, then contrasts with the motor status in a upper cycle, thus obtaining this controlled quentity controlled variable that motor is applied of this control cycle.
PD controls angle ring and PI controls speed ring and respectively constituted 2 close loop control circuits, thus ensure that the detection to car mould state is more comprehensive, improves stability and the high efficiency of control；In control algolithm, adopt the combination type control mode that angle ring PD control, speed ring PI control, motor synchronized ring P in 2, left and right controls, further increase the control accuracy of system.
The operation principle of the present invention is given below:
Referring to Fig. 3, car powers on after operation, and each element is initialized, and enters duty, after master controller receives 3 road signals, judge whether car is in erectility, if upright with regard to responsive control signal, perform corresponding actions, if being not at erectility, then first it is not responding to control signal, first carries out erectility adjustment, because erectility is the basis of other actions.
Referring to Fig. 4, owing to can interfere between travelling control, course changing control and upright control, interrupt so this control system needs to apply to serial ports, the master control program control cycle is 10ms, the serial ports interrupt routine control cycle is 30ms, carries out Time-sharing control, enters interrupt routine when timing reaches 30ms, carry out speed and course changing control, then proceed upright control not up to 30ms.
Present invention adds wireless remote control end, two kinds of control modes are combined and uses, and have employed efficient combination type pid control algorithm, motor and the independent powering mode of master controller, Phototube Coupling etc., this greatly reduces the interference between modules, improve Self-Balancing vehicle in the motility retreated when travelling with pivot stud and stability, it is provided that the function locked and unblank.
Claims (1)
1. the double-wheel self-balancing vehicle control of a double control mode, it is characterised in that include master controller, motor drive module, power-supply system, manual controller and bluetooth module that attitude transducer, 2 velocity sensors, 2, left and right motor, motors are joined；
Described attitude transducer, velocity sensor outfan all connect master controller input, master controller output termination motor drive module input, the main frame of bluetooth module connects manual controller outfan, bluetooth module connect master controller input from machine, 2 motor output shafts in left and right all connect velocity sensor, motor drive module output termination motor；Described power-supply system is made up of 3 power modules, and 3 power modules connect motor, master controller and manual controller respectively；Described manual controller be provided with control the speed of travel and the control crank that turns to and lock, button of unblanking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610140141.2A CN105730586A (en) | 2016-03-11 | 2016-03-11 | Two-wheel self-balancing car control system in two-control mode |
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| CN201610140141.2A CN105730586A (en) | 2016-03-11 | 2016-03-11 | Two-wheel self-balancing car control system in two-control mode |
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| CN105730586A true CN105730586A (en) | 2016-07-06 |
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| CN201610140141.2A Pending CN105730586A (en) | 2016-03-11 | 2016-03-11 | Two-wheel self-balancing car control system in two-control mode |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428343A (en) * | 2016-10-09 | 2017-02-22 | 深圳市优轲科技有限公司 | Intelligent display control system of electric skateboard and electric skateboard |
| CN107618601A (en) * | 2016-07-13 | 2018-01-23 | 华斌 | The electric children vehicle being connected with network mobile terminal can be achieved |
| CN108089463A (en) * | 2016-11-22 | 2018-05-29 | 纳恩博（北京）科技有限公司 | A kind of control method and equipment |
| CN108121352A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The method and system that a kind of balance car is stopped automatically |
| CN109709796A (en) * | 2018-12-20 | 2019-05-03 | 武汉科技大学 | A kind of flying wheel self-balance method |
| CN111309016A (en) * | 2020-02-26 | 2020-06-19 | 腾讯科技（深圳）有限公司 | Self-balancing robot control system, self-balancing robot control method, self-balancing robot and medium |
| CN111698660A (en) * | 2020-06-09 | 2020-09-22 | 电子科技大学成都学院 | Balance car and balance method based on wireless parameter adjustment and wireless image transmission |
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| CN1872614A (en) * | 2006-06-30 | 2006-12-06 | 宁波Gqy视讯股份有限公司 | Standing and seating two-way type balanced car with two wheels |
| US8041456B1 (en) * | 2008-10-22 | 2011-10-18 | Anybots, Inc. | Self-balancing robot including an ultracapacitor power source |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618601A (en) * | 2016-07-13 | 2018-01-23 | 华斌 | The electric children vehicle being connected with network mobile terminal can be achieved |
| CN106428343A (en) * | 2016-10-09 | 2017-02-22 | 深圳市优轲科技有限公司 | Intelligent display control system of electric skateboard and electric skateboard |
| CN108089463A (en) * | 2016-11-22 | 2018-05-29 | 纳恩博（北京）科技有限公司 | A kind of control method and equipment |
| CN108121352A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The method and system that a kind of balance car is stopped automatically |
| CN109709796A (en) * | 2018-12-20 | 2019-05-03 | 武汉科技大学 | A kind of flying wheel self-balance method |
| CN109709796B (en) * | 2018-12-20 | 2021-11-12 | 武汉科技大学 | Inertia wheel self-balancing method |
| CN111309016A (en) * | 2020-02-26 | 2020-06-19 | 腾讯科技（深圳）有限公司 | Self-balancing robot control system, self-balancing robot control method, self-balancing robot and medium |
| CN111698660A (en) * | 2020-06-09 | 2020-09-22 | 电子科技大学成都学院 | Balance car and balance method based on wireless parameter adjustment and wireless image transmission |
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Application publication date: 20160706 |