CN103010360B - Movement control method of self-balancing two-wheel vehicle - Google Patents
Movement control method of self-balancing two-wheel vehicle Download PDFInfo
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Abstract
The invention discloses a movement control method of a self-balancing two-wheel vehicle, which comprises a gyroscope sensor, an acceleration sensor, an acceleration PID (proportion-integration-differential) controller and a speed PID controller, wherein the gyroscope sensor, the acceleration sensor, the acceleration PID controller and the speed PID controller are arranged on the two-wheel vehicle; gyroscope angular speed value data output by the gyroscope sensor and wheel acceleration data output by the acceleration sensor are processed, and then an output fusion angle value is calculated; an output acceleration of wheels is calculated by a control system of the two-wheel vehicle by utilizing the fusion angle value and a gyroscope angular speed value, and then the output acceleration is fine-tuned by the acceleration PID controller by utilizing a PID fuzzy control parameter table; the current output speed is collected by the control system of the two-wheel vehicle, and the target speed is obtained; and the PID algorithm regulation is performed by the speed PID controller, so as to control the current output speed to the target speed. According to the movement control method of the self-balancing two-wheel vehicle, smooth running of the two-wheel vehicle is realized through the acceleration PID controller and the speed PID controller.
Description
Technical field
The present invention relates to automatic control technology field, especially relate to a kind of motion control method of balanced car with two wheels.
Background technology
Inverted pendulum is a kind of complexity, nonlinear, unsettled system, and it is typical scientific research or the instructional device of modern control theory and application.Due to irregular ground situation, the load of wheel has larger variation, therefore, the range of movement of existing inverted pendulum is all very limited, controlling quantity is can not Jia get Tai large, otherwise will exceed its restriction, some algorithms cannot be realized on these reversible pendulum systems, can not effectively control the balance of car body.Therefore, the present invention proposes the method for directly acceleration/accel of car body being controlled.
Existing technology is seldom mentioned the fusion method of sensor and in the protection on control policy, because balanced car with two wheels itself is exactly a time-dependent system, in practical application, inevitably will be run into some surprisingly to car body.
Summary of the invention
The defect that the present invention be directed to the existence of above-mentioned background technology provides a kind of motion control method of balanced car with two wheels, ensures controllability and the traveling comfort of two-wheel car.
For achieving the above object, the invention discloses a kind of motion control method of balanced car with two wheels, comprise the following steps:
(1) on two-wheel car, be fixed with gyro sensor and acceleration pick-up, gyro sensor gathers angular velocity signal on two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on two-wheel car;
(2) the wheel acceleration/accel of the gyroscope magnitude of angular velocity of the output of gyro sensor and the output of acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system, the data obtained is processed to the fusion angle value that calculates output through kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, two-wheel car control system utilizes the fusion angle value of sensor output and the gyroscope magnitude of angular velocity of gyro sensor output to calculate the output acceleration/accel of wheel, and described acceleration/accel PID controller utilizes PID fuzzy control parameter table that the output acceleration/accel of wheel is finely tuned;
(4) described two-wheel car control system inside is provided with speed by PID controller, described two-wheel car control system collects the current output speed of two-wheel car, described two-wheel car control system utilizes current output speed to coordinate the output acceleration/accel of wheel to obtain the target velocity of two-wheel car, and described speed by PID controller carries out pid algorithm adjusting current output speed is controlled to target velocity.
Further, the formula that the data that described gyro sensor and acceleration pick-up gather calculate fusion angle value is:
fused_angle=(1-kg)*(fused_angle+
anglerate*dt)+kg*A* arcsin(acc)
Wherein fused_angle is the output of merging angle value, and anglerate is gyrostatic output, and acc is for adding
The output of speed sensor, A is system parameter, and A* arcsin (acc) is inverted pendulum angle of inclination, and kg is for logical
Cross the adjustment factor that kalman filter calculates;
Further, the difference of described target velocity and current output speed obtains tolerance speed, and the tolerance speed obtaining is carried out pid algorithm adjusting by described speed by PID controller;
Further, the computing formula of the output acceleration/accel of described wheel:
acc_speed=P*fused_angle +I*
fused_angle*dt+D*anglerate
Wherein fused_angle is the output of merging angle value, and anglerate is gyrostatic output, the output acceleration/accel that acc_speed is wheel;
Further, the parameter P of described PID fuzzy control parameter table, parameter I, parameter D span are 4～50;
Further, the state of kinematic motion of two-wheel car is divided into 4 quadrants by the gyroscope magnitude of angular velocity of the fusion angle value of described sensor output and gyro sensor output, and the parameter P of described PID fuzzy control parameter table, parameter I, the parameter D setting value requirement when setting value during with third quadrant requires from two-wheel car car body in the second quadrant and fourth quadrant in first quartile at two-wheel car car body is different.
In sum, the motion control method of a kind of balanced car with two wheels of the present invention carries out data processing by kalman filter by the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up and obtains the fusion angle value that sensor is exported, two-wheel car control system utilizes the fusion angle value of described sensor output and gyroscope magnitude of angular velocity to calculate the output acceleration/accel of wheel, acceleration/accel PID controller utilizes PID fuzzy control parameter table the output acceleration/accel of wheel to be finely tuned to ensure controllability and the traveling comfort of two-wheel car, two-wheel car control system collects the current output speed of two-wheel car and coordinates the output acceleration/accel of wheel to obtain the target velocity of two-wheel car simultaneously, thereby regulate and allow current output speed reach fast target velocity to realize the smooth running of two-wheel car through pid algorithm.
Brief description of the drawings
Fig. 1 is the motion control method functional block diagram of a kind of balanced car with two wheels of the present invention.
Fig. 2 is the motion schematic diagram that leans forward of balanced car with two wheels shown in Fig. 1.
Fig. 3 is the layback of balanced car with two wheels shown in Fig. 1 motion schematic diagram.
Fig. 4 is the system of axes figure that the fusion angle value of the output of balanced car with two wheels sensor shown in Fig. 1 and the gyroscope magnitude of angular velocity of gyro sensor output combine.
Detailed description of the invention
For further understanding feature of the present invention, technological means and the specific purposes that reach, function, below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
As shown in Figures 1 to 4, the motion control method of a kind of balanced car with two wheels of the present invention, realize as follows:
(1) on two-wheel car, be fixed with gyro sensor and acceleration pick-up, gyro sensor gathers angular velocity signal on two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on two-wheel car;
(2) the wheel acceleration/accel acc of the gyroscope magnitude of angular velocity anglerate of the output of gyro sensor and the output of acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system (ADC), after necessary data processing, can calculate the fusion angle value fused_angle of sensor output:
fused_angle=(1-kg)*(fused_angle+
anglerate *dt)+kg*A* arcsin(acc)
Wherein A is system parameter, and in the present embodiment, its setting value is that 57.29, kg adjusts the factor, is the kalman gain calculating by kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, and the gyroscope magnitude of angular velocity anglerate of the fusion angle value fused_angle of sensor output and gyro sensor output is used following formula by two-wheel car control system:
acc_speed=P*fused_angle +I*
fused_angle*dt+D*anglerate
Calculate the output acceleration/accel acc_speed of wheel.The output acceleration/accel acc_speed of described acceleration/accel PID controller control wheel, described parameter P, parameter I, parameter D have formed the PID fuzzy control parameter table of acceleration/accel PID controller, described parameter P, parameter I, parameter D span are 4～50, and described parameter P, parameter I, parameter D setting value can finely tune to ensure to the output acceleration/accel acc_speed of wheel controllability and the traveling comfort of two-wheel car.
(4) described two-wheel car control system inside is provided with speed by PID controller, described two-wheel car control system collects the current output speed cur_speed of two-wheel car, described two-wheel car control system utilizes current output speed cur_speed to coordinate the output acceleration/accel acc_speed of wheel to obtain the target velocity aim_speed of two-wheel car, utilize the difference of target velocity aim_speed and current output speed cur_speed to obtain tolerance speed err_speed, the tolerance speed err_speed obtaining is carried out pid algorithm adjusting by described speed by PID controller:
Kp*err_speed+Ki*
err_speed*dt+Kd*
Wherein, described Kp span is 100～1000, Ki span is that 10～500, Kd value is 0～50, realizes the smooth running of two-wheel car thereby the setting value of described parameter K p, parameter K i, parameter K d can allow current output speed cur_speed reach fast target velocity aim_speed.
(5) state of kinematic motion of two-wheel car is divided into 4 quadrants by the gyroscope magnitude of angular velocity anglerate of the fusion angle value fused_angle of described sensor output and gyro sensor output, first quartile represents two-wheeled vehicle bench over and to preacceleration, the second quadrant represents two-wheeled vehicle trunk bending backwards and accelerates backward, third quadrant represents two-wheeled vehicle trunk bending backwards and slows down backward, and fourth quadrant represents two-wheeled vehicle bench over and to front reduction gear.Described parameter P, parameter I, the parameter D setting value requirement when setting value during with third quadrant requires from two-wheel car car body in the second quadrant and fourth quadrant in first quartile at two-wheel car car body is different, speed of response at first quartile and third quadrant two-wheel car car body is eager to excel than the speed of response at the second quadrant and fourth quadrant two-wheel car car body, to improve two-wheel car controllability and traveling comfort.
In sum, the motion control method of a kind of balanced car with two wheels of the present invention carries out data processing by kalman filter by the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up and obtains the fusion angle value that sensor is exported, two-wheel car control system utilizes the fusion angle value of described sensor output and gyroscope magnitude of angular velocity to calculate the output acceleration/accel of wheel, acceleration/accel PID controller utilizes PID fuzzy control parameter table the output acceleration/accel of wheel to be finely tuned to ensure controllability and the traveling comfort of two-wheel car, two-wheel car control system collects the current output speed of two-wheel car and coordinates the output acceleration/accel of wheel to obtain the target velocity of two-wheel car simultaneously, thereby regulate and allow current output speed reach fast target velocity to realize the smooth running of two-wheel car through pid algorithm.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as limitation of the scope of the invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with claims.
Claims (4)
1. a motion control method for balanced car with two wheels, is characterized in that, comprises the following steps:
(1) on two-wheel car, be fixed with gyro sensor and acceleration pick-up, gyro sensor gathers angular velocity signal on two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on two-wheel car;
(2) the wheel acceleration/accel of the gyroscope magnitude of angular velocity of the output of gyro sensor and the output of acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system, the data obtained is processed to the fusion angle value that calculates output through kalman filter;
Wherein, the formula that the data that described gyro sensor and acceleration pick-up gather calculate fusion angle value is:
fused_angle=(1-kg)*(fused_angle+∫anglerate*dt)+kg*A*arcsin(acc)
Wherein fused_angle is the output of merging angle value, anglerate is gyrostatic output, the output that acc is acceleration pick-up, and A is system parameter, A*arcsin (acc) is inverted pendulum angle of inclination, and kg is the adjustment factor calculating by kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, two-wheel car control system utilizes the fusion angle value of sensor output and the gyroscope magnitude of angular velocity of gyro sensor output to calculate the output acceleration/accel of wheel, and described acceleration/accel PID controller utilizes PID fuzzy control parameter table that the output acceleration/accel of wheel is finely tuned;
Wherein, the computing formula of the output acceleration/accel of described wheel:
acc_speed=P*fused_angle+I*∫fused_angle*dt+D*anglerate
Wherein fused_angle is the output of merging angle value, and anglerate is gyrostatic output, the output acceleration/accel that acc_speed is wheel;
(4) described two-wheel car control system inside is provided with speed by PID controller, described two-wheel car control system collects the current output speed of two-wheel car, described two-wheel car control system utilizes current output speed to coordinate the output acceleration/accel of wheel to obtain the target velocity of two-wheel car, and described speed by PID controller carries out pid algorithm adjusting current output speed is controlled to target velocity.
2. the motion control method of a kind of balanced car with two wheels according to claim 1, is characterized in that: the difference of described target velocity and current output speed obtains tolerance speed, and the tolerance speed obtaining is carried out pid algorithm adjusting by described speed by PID controller.
3. the motion control method of a kind of balanced car with two wheels according to claim 1, is characterized in that: the parameter P of described PID fuzzy control parameter table, parameter I, parameter D span are 4～50.
4. the motion control method of a kind of balanced car with two wheels according to claim 1, it is characterized in that: the state of kinematic motion of two-wheel car is divided into 4 quadrants by the gyroscope magnitude of angular velocity of the fusion angle value of described sensor output and gyro sensor output, the parameter P of described PID fuzzy control parameter table, parameter I, the parameter D setting value requirement when setting value during with third quadrant requires from two-wheel car car body in the second quadrant and fourth quadrant in first quartile at two-wheel car car body is different.
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Denomination of invention: Movement control method of self-balancing two-wheel vehicle Effective date of registration: 20150610 Granted publication date: 20140820 Pledgee: China Co truction Bank Corp Dongguan branch Pledgor: Dongguan Robstep Robot Co., Ltd. Registration number: 2015990000461 |
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Effective date of registration: 20191227 Address after: 333124 Lin Hu Xiang Mu Li Xin Cun 110, Poyang County, Shangrao City, Jiangxi Province Patentee after: Zhang Mingming Address before: Science and technology Songshan Lake Science and Technology Industrial Park in Guangdong province Dongguan City nine road 523808 No. 1 Patentee before: Dongguan Robstep Robot Co., Ltd. |