CN101823485B - 一种轮式倒立摆的传感器处理与平衡控制算法 - Google Patents
一种轮式倒立摆的传感器处理与平衡控制算法 Download PDFInfo
- Publication number
- CN101823485B CN101823485B CN201010132143.XA CN201010132143A CN101823485B CN 101823485 B CN101823485 B CN 101823485B CN 201010132143 A CN201010132143 A CN 201010132143A CN 101823485 B CN101823485 B CN 101823485B
- Authority
- CN
- China
- Prior art keywords
- algorithm
- inverted pendulum
- speed
- angle
- balancing control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 2
- 238000002156 mixing Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 230000001681 protective effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010132143.XA CN101823485B (zh) | 2010-03-25 | 2010-03-25 | 一种轮式倒立摆的传感器处理与平衡控制算法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010132143.XA CN101823485B (zh) | 2010-03-25 | 2010-03-25 | 一种轮式倒立摆的传感器处理与平衡控制算法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101823485A CN101823485A (zh) | 2010-09-08 |
CN101823485B true CN101823485B (zh) | 2013-02-27 |
Family
ID=42687719
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201010132143.XA Active CN101823485B (zh) | 2010-03-25 | 2010-03-25 | 一种轮式倒立摆的传感器处理与平衡控制算法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN101823485B (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103019246B (zh) * | 2011-09-26 | 2015-09-02 | 东莞易步机器人有限公司 | 一种两轮车的姿态控制方法 |
CN103019236B (zh) * | 2011-09-26 | 2015-07-08 | 东莞易步机器人有限公司 | 一种两轮车自立行走的方法 |
CN103019093B (zh) * | 2011-09-26 | 2015-10-07 | 东莞易步机器人有限公司 | 两轮车用传感器融合角度的获得方法 |
CN102420553B (zh) * | 2011-12-09 | 2015-09-30 | 南京理工大学 | 基于改进型相邻交叉耦合的多电机比例同步控制算法 |
CN103488178B (zh) * | 2013-09-29 | 2015-11-04 | 哈尔滨工业大学 | 基于陀螺仪进动效应的倒立摆系统姿态稳定装置 |
CN103753557B (zh) * | 2014-02-14 | 2015-06-17 | 上海创绘机器人科技有限公司 | 移动式倒立摆系统的自平衡控制方法及自平衡车智能控制系统 |
CN103792946B (zh) * | 2014-02-14 | 2016-08-24 | 上海创绘机器人科技有限公司 | 运动型倒立摆系统控制的信号处理方法及智能自平衡车信号控制系统 |
CN103786816A (zh) * | 2014-02-20 | 2014-05-14 | 深圳乐行天下科技有限公司 | 一种两轮平衡车的行驶控制方法 |
CN104914871A (zh) * | 2015-04-13 | 2015-09-16 | 金华市伊凯动力科技有限公司 | 倒立摆系统的动态平衡控制方法及智能平衡车控制系统 |
CN104999925B (zh) * | 2015-07-23 | 2018-01-05 | 北京锐安科技有限公司 | 平衡车的控制方法及装置 |
CN105059446B (zh) * | 2015-08-14 | 2018-04-06 | 广东宝乐机器人股份有限公司 | 两轮平衡车的控制方法 |
CN106248080A (zh) * | 2016-07-08 | 2016-12-21 | 国网浙江省电力公司台州供电公司 | 杆塔摆幅在线监测装置 |
CN107776436B (zh) * | 2016-08-25 | 2019-08-16 | 北京小米移动软件有限公司 | 两轮自平衡设备的控制方法及装置 |
CN108944570A (zh) * | 2018-07-03 | 2018-12-07 | 国家电网有限公司 | 一种单车轮小车平衡控制系统 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1952996A (zh) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | 两轮遥控小车倒立摆及其平衡控制方法 |
CN101375226A (zh) * | 2006-09-04 | 2009-02-25 | 丰田自动车株式会社 | 移动体以及移动体的控制方法 |
-
2010
- 2010-03-25 CN CN201010132143.XA patent/CN101823485B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1952996A (zh) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | 两轮遥控小车倒立摆及其平衡控制方法 |
CN101375226A (zh) * | 2006-09-04 | 2009-02-25 | 丰田自动车株式会社 | 移动体以及移动体的控制方法 |
Non-Patent Citations (2)
Title |
---|
刘丽等.倒立摆系统稳定控制之研究.《计算机科学》.2006,第33卷(第5期),213-219页. * |
张葛祥等.倒立摆与自动控制技术研究.《西南工学院学报》.2001,第16卷(第3期),12-16页. * |
Also Published As
Publication number | Publication date |
---|---|
CN101823485A (zh) | 2010-09-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101823485B (zh) | 一种轮式倒立摆的传感器处理与平衡控制算法 | |
CN103204180B (zh) | 双轮毂电机驱动系统自适应平衡转向控制方法 | |
CN205686537U (zh) | 电动平衡车 | |
CN105929402A (zh) | 一种避障装置及系统 | |
CN106627894A (zh) | 一种纵向两轮自平衡机器人及控制系统 | |
CN106853830A (zh) | 异常驾驶行为识别方法、装置及终端设备 | |
CN105334853A (zh) | 双核高速四轮微微鼠冲刺控制器 | |
CN102529850B (zh) | 一种基于轮载式智能传感机动车安全状态监测方法 | |
CN101665217A (zh) | 检测起重机稳定性的方法和装置 | |
CN106740906A (zh) | 矿井机车无人驾驶车载控制系统及其控制方法 | |
CN104340895A (zh) | 一种塔吊安全监控系统及监控方法 | |
CN205772977U (zh) | 塔吊实时监测系统 | |
CN107907344A (zh) | 一种行人aeb系统测试平台 | |
CN102991506A (zh) | 基于mems的汽车驾驶姿态检测系统 | |
CN105116897A (zh) | 双核高速四轮微微鼠全数字导航伺服控制器 | |
CN202661066U (zh) | 一种基于加速度计和陀螺仪的汽车姿态预警装置 | |
CN102530729B (zh) | 控制吊物振摆的方法和系统 | |
CN103183029A (zh) | 车辆驾驶状态监控系统及方法 | |
CN202657171U (zh) | 智能自平衡电动车及其方向控制杆 | |
CN206021083U (zh) | 一种电动平衡车车体姿态检测器 | |
CN205486864U (zh) | 船舶无线数据采集监控系统 | |
CN203922537U (zh) | 无线塔式起重机摆动监测系统 | |
CN204548330U (zh) | 一种设有负载检测装置的独轮自平衡车 | |
CN105302133A (zh) | 单核低速六轮微微鼠全数字导航伺服系统控制器 | |
CN102853759A (zh) | 自平衡两轮车支撑平台的摆动角度检测装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: DONGGUAN ROBSTEP ROBOT CO., LTD. Free format text: FORMER OWNER: ROBOTELL (WUHAN) CO., LTD. Effective date: 20150119 |
|
C41 | Transfer of patent application or patent right or utility model | ||
COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 430071 WUHAN, HUBEI PROVINCE TO: 523808 DONGGUAN, GUANGDONG PROVINCE |
|
TR01 | Transfer of patent right |
Effective date of registration: 20150119 Address after: 523808 Guangdong province Dongguan City Songshan Lake National hi tech Industrial Park Industrial Road No. 6 Songhu Branch Industrial Park 2 3 floor Patentee after: Dongguan Robstep Robot Co., Ltd. Address before: 430071 Hubei city of Wuhan province East Lake Development Zone Luoyu Road No. 243 building 12 layer technology Patentee before: Wuhan Ruobite Robot Co., Ltd. |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Sensor processing and balancing control algorithm of wheeled inverted pendulum Effective date of registration: 20150610 Granted publication date: 20130227 Pledgee: China Co truction Bank Corp Dongguan branch Pledgor: Dongguan Robstep Robot Co., Ltd. Registration number: 2015990000461 |
|
PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20170424 Granted publication date: 20130227 Pledgee: China Co truction Bank Corp Dongguan branch Pledgor: Dongguan Robstep Robot Co., Ltd. Registration number: 2015990000461 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190828 Address after: 518572 Longcheng Street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Zhang Mingming Address before: 523808 Guangdong province Dongguan City Songshan Lake National hi tech Industrial Park Industrial Road No. 6 Songhu Branch Industrial Park 2 3 floor Patentee before: Dongguan Robstep Robot Co., Ltd. |
|
TR01 | Transfer of patent right |