CN103257605A

CN103257605A - Two-wheel self-balancing driving system based on embedded ARM

Info

Publication number: CN103257605A
Application number: CN2013101263527A
Authority: CN
Inventors: 黄家才; 毛靖; 阚学峰
Original assignee: SUZHOU OUTAIKE ELECTRONIC TECHNOLOGY Co Ltd
Current assignee: SUZHOU OUTAIKE ELECTRONIC TECHNOLOGY Co Ltd
Priority date: 2013-04-12
Filing date: 2013-04-12
Publication date: 2013-08-21

Abstract

The invention discloses a two-wheel self-balancing driving system based on an embedded ARM. The two-wheel self-balancing driving system based on the embedded ARM comprises a left wheel, a right wheel, pedals, a motor driving system and a steering device, wherein the left wheel and the right wheel are connected through an axle, the steering device is connected with the pedals, the left wheel and the right wheel are respectively provided with a brushless direct current motor, the motor driving system is arranged above the axle and below the pedals, an embedded driving control system and two driving modules are arranged in the motor driving device, and the two driving modules are connected with the brushless direct current motor of the left wheel and the brushless direct current motor of the right wheel respectively. The embedded driving control system comprises a microcontroller stm32 single chip microcomputer, a power source, a gyroscope, an accelerometer, a current measuring device and a functional module, wherein the power source is connected with the stm32 single chip microcomputer, the gyroscope, the accelerometer and the brushless direct current motors, the gyroscope is connected with the accelerometer, the accelerometer is connected with the stm32 single chip microcomputer, and the stm32 single chip microcomputer is connected with the two driving modules. The two-wheel self-balancing driving system based on the embedded ARM has the advantages of being high in systematic cost-performance ratio, wide in application range, and capable of having large promotional value.

Description

A kind of two-wheel self-equilibrating drive system based on embedded-type ARM

Technical field

The present invention relates to a kind of two-wheel self-equilibrating dolly, be specifically related to a kind of two-wheel self-equilibrating drive system based on embedded-type ARM.

Background technology

In recent years, the double-wheel self-balancing cart system has become an ideal platform of the various controls of research, is the different control methods of check, strategy, and the typical device of control ability causes the extensive concern in Robotics laboratory.Adopt embedded control system, its advantage is that system kernel is little, specificity strong, system has simplified, saved the cost of system development.The various self-equilibrating dollies that occur in market at present adopt brush motor to drive more, as everyone knows, the operation noise of brush motor is big, and efficient is low and spark arranged, be not suitable for the place of some rugged surroundings such as inflammable and explosive, thus the usable range of restriction self-equilibrating dolly.

Summary of the invention

In order to address the above problem, the object of the present invention is to provide a kind of two-wheel self-equilibrating drive system based on embedded-type ARM, have good practicability.

In order to achieve the above object, the present invention adopts following technical scheme:

A kind of two-wheel self-equilibrating drive system based on embedded-type ARM, comprise revolver, right wheel, pedal, motor driven systems and steering gear, revolver is connected by axletree with right wheel, steering gear links to each other with pedal, on described revolver and the right wheel dc brushless motor is housed all, described motor driven systems places on the axletree, under the pedal; Described motor driven systems is built-in with embedded driving control system and two driver modules, and two driver modules link to each other with the dc brushless motor of revolver with right wheel respectively; Described embedded driving control system comprises microcontroller, power supply, gyroscope, accelerometer, current measuring device and functional module, described microcontroller adopts the stm32 single-chip microcomputer, described power supply links to each other with stm32 single-chip microcomputer, gyroscope, accelerometer and dc brushless motor respectively, described gyroscope links to each other with accelerometer, described accelerometer links to each other with the stm32 single-chip microcomputer, and described stm32 single-chip microcomputer links to each other with two driver modules respectively.

Gyroscope and accelerometer are used in combination mutual supplement with each other's advantages, follow the tracks of the also entire motion of capture system, wherein gyroscope links to each other with accelerometer, and accelerometer links to each other with microcontroller, and accelerometer passes to microcontroller with the obliquity information that departs from horizontal level of self-equilibrating dolly.

Described driver module comprises photoelectric isolation module and power driver module; The functional module of described embedded driving control system comprises coder module, current measurement module, power module, reseting module and memory module; Described stm32 single-chip microcomputer links to each other with photoelectric isolation module, power module, reseting module, memory module, coder module and current measurement module respectively; Current measurement module and coder module all are connected to dc brushless motor, and dc brushless motor also is connected with photoelectric isolation module with power driver module successively; Power driver module links to each other with the working power module of dc brushless motor.

Described microcontroller uses the stm32 single-chip microcomputer as controller, the use of stm32 series 32 bit flash memory microcontrollers comes from ARM company and has breakthrough Cortex-M3 kernel, and this kernel is that specialized designs is in satisfying the requirement that integrates high-performance, low-power consumption, uses, has the built-in field of competitive price in real time.Adopt stm32 to control two brushless electric machines, be enough to be competent at.

Principle of work of the present invention is: at first allow system be in horizontality, set the equilibrium position, system is in equilibrium state when the people stands on the self-equilibrating dolly attonity, if the people has movement tendency, then people's center of gravity can change, gyroscope and accelerometer multiple measurement draw the change amount of corner, send signal to the STM32 single-chip microcomputer by amplifier, the STM32 single-chip microcomputer is handled through software and is judged movement tendency and send instruction control motor movement according to corresponding control algolithm, and every dynamic parameter of motor operation gathered in real time, with the analysis of making a search property, finally make self-equilibrating dolly balance again, thereby reach the effect of self-equilibrating.

The present invention has the following advantages compared to existing technology: (1) embedded drive controller partly adopts STM32F103ZE as controller, its speed is fast, powerful, can control the BLDC motor easily, have very high cost performance than traditional electric machine controller.(2) adopt BLDC motor (dc brushless motor), its advantage is: noise is little, and it is quietly local to can be used for hospital, bank, school etc.; No-spark, antijamming capability are strong, can be competent at inflammable, explosive, high temperature, humidity, the work of rugged surroundings such as corrosion is arranged; Life-span is long, has not had carbon brush, has reduced wearing and tearing greatly; High-level efficiency, high-speed, commutation is accurate, hardware circuit is simple; Detent torque is big, starting current is little, overload torque is big, range of adjustment is wide; Simple in structure, be easy to the maintenance.(3) motor feedback element: current measurement module can externally be observed module, can show the parameters data variation of observation when researching and analysing in real time, is convenient to control performance is analyzed.

Description of drawings

Fig. 1 is the structural principle block diagram of system of the present invention;

Fig. 2 is the structured flowchart of motor driven systems;

Fig. 3 is the structural representation of motor power operational module;

Fig. 4 is the structural representation of power module;

Fig. 5 is the structural representation of memory module;

Fig. 6 is the structural representation of microcontroller;

Fig. 7 is the structural representation of photoelectric isolation module;

Fig. 8 is the structural representation of power driver module;

Fig. 9 is the structural representation of current measurement module;

Figure 10 is the structural representation of coder module.

Embodiment

Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

Present embodiment comprises embedded drive controller, Tuo Luoyi ﹠amp as shown in Figure 1; Accelerometer composite module, driver module and BLDC motor, wherein, Tuo Luoyi ﹠amp; The simulating signal of accelerometer composite module output directly links to each other with the AD mouth of the microcontroller (being the STM32 single-chip microcomputer) of embedded drive system, carries out the software processing; Microcontroller links to each other with driver module, and driver module links to each other by three-phase power line, signal wire with the BLDC motor, produces the operation of six road pwm signals control motor, and the STM32 single-chip microcomputer obtains position and the velocity information of BLDC motor simultaneously.

As shown in Figure 2, motor driven systems comprises microcontroller, photoelectric isolation module, power driver module, coder module, current measurement module, power module, reseting module, memory module and machine operation power module; Wherein: microcontroller links to each other with photoelectric isolation module, power module, reseting module, memory module, coder module and current measurement module respectively, and microcontroller links to each other with photoelectric isolation module, and power driver module links to each other with the machine operation power module.Microcontroller is embedded controller in the present embodiment, adopts 32 bit processor STM32F103ZE.

Be illustrated in figure 3 as the structural representation of motor power operational module, the machine operation power supply taps into from interface J1, power to motor through out-put supply DC+ behind diode D1, capacitor C 1 and the C2, simultaneously DC+ through two resistance R 5, R6 dividing potential drop after, enter microcontroller and sample; The control power supply inserts from interface J2, enters power conversion chip U1 through diode D5, capacitor C 4, C5 and produces the 15V power supply, and this 15V power supply produces the 5V power supply by power conversion chip U2 simultaneously, for the modules such as optocoupler of back provide power supply; Inductance L 6, L7 are in order to separate analog power and digital power.

4 is the structural representation of power module as shown, and external 5V power supply is exported the 3.3V digital power after entering power transfer module U1 through diode D1, switch S 1, capacitor C 1, C2, is follow-up module for power supply such as microcontroller; In order to improve sampling precision, the analog power 3.3V-AV that forms behind above-mentioned 3.3V digital power process inductance L 1, capacitor C 5, the C6, the voltage of output 2.5V behind this analog power process precision voltage reference chip U2 is for follow-up data acquisition provides reference voltage.

Fig. 5 is the structural representation of memory module, and the parameter of total system is kept among the chip U4.

Fig. 6 is the structural representation of microcontroller, comprise embedded microcontroller STM32 with and peripheral circuit.

Fig. 7 is the structural representation of photoelectric isolation module, and the structure of photoelectric isolation module: U3, U4, U5 are photoelectric isolation module, and Electric Machine Control part and motor driving part are separated, and has reduced the interference of strong power part to entire circuit.

Fig. 8 is the structural representation of power driver module: Q1 is high-power MOSFET tube to Q6 among the figure, the drive motor operation, and J3 is the interface of dc brushless motor.

Fig. 9 is the structural representation of current measurement module, and chip U7, U8 induction biphase current also converts voltage signal to, and carry out signal condition by follow-up amplifier chip U9A, U9B; Precision resistance R44 is, and bus current is sampled, and carries out signal condition by follow up amplifier chip U10B; Three-phase voltage is through resistance R 52, R53, R55, R56, R58, R59, sampled and nursed one's health by chip U11A, U11B, U10A.

Figure 10 is the structural representation of coder module, and wherein interface J4 is the interface of photoelectric encoder, and chip U12 is, and the photoelectric encoder signal carries out shaping.

Claims

1. two-wheel self-equilibrating drive system based on embedded-type ARM, comprise revolver, right wheel, pedal, motor driven systems and steering gear, revolver is connected by axletree with right wheel, steering gear links to each other with pedal, it is characterized in that, on described revolver and the right wheel dc brushless motor is housed all, described motor driven systems places on the axletree, under the pedal; Described motor driven systems is built-in with embedded driving control system and two driver modules, and two driver modules link to each other with the dc brushless motor of revolver with right wheel respectively; Described embedded driving control system comprises microcontroller, power supply, gyroscope, accelerometer, current measuring device and functional module, described microcontroller adopts the stm32 single-chip microcomputer, described power supply links to each other with stm32 single-chip microcomputer, gyroscope, accelerometer and dc brushless motor respectively, described gyroscope links to each other with accelerometer, described accelerometer links to each other with the stm32 single-chip microcomputer, and described stm32 single-chip microcomputer links to each other with two driver modules respectively.

2. a kind of two-wheel self-equilibrating drive system based on embedded-type ARM according to claim 1, it is characterized in that: described driver module comprises photoelectric isolation module and power driver module; The functional module of described embedded driving control system comprises coder module, current measurement module, power module, reseting module and memory module; Described stm32 single-chip microcomputer links to each other with photoelectric isolation module, power module, reseting module, memory module, coder module and current measurement module respectively; Current measurement module and coder module all are connected to dc brushless motor, and dc brushless motor also is connected with photoelectric isolation module with power driver module successively; Power driver module links to each other with the working power module of dc brushless motor.