CN104122098A - Unmanned bicycle function testing experiment system - Google Patents
Unmanned bicycle function testing experiment system Download PDFInfo
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Abstract
The invention discloses an unmanned bicycle function testing experiment system. The unmanned bicycle function testing experiment system comprises a balance control bicycle model, a bicycle body stabilizing control system, attitude testing devices and a system balance state monitoring and analyzing system. The attitude testing devices are mounted on the balance control bicycle model, and the balance control bicycle model is controlled by the bicycle body stabilizing control system through wireless signals, transmits wireless signals to the bicycle body stabilizing control system and provides real-time parameters of the bicycle body attitude testing devices; meanwhile, the bicycle body stabilizing control system transmits the obtained real-time parameters of the attitude testing devices to the system balance state monitoring and analyzing system in a wireless mode; the system balance state monitoring and analyzing system integrates and analyzes data for studying the bicycle body balance control principles The unmanned bicycle function testing experiment system can provide a testing platform for students major in automation, detecting techniques, control engineering, robots, machine vision and the like.
Description
Technical field
The present invention relates to a kind of experimental system of Automatic control and measure technology, the experimental study device of especially bicycle control automatically, stability analysis and motion state detection thereof, belongs to balance control system testing equipment technical field.
Background technology
Bicycle is that everybody is familiar with, and walking-replacing tool very easily can be described as man invented one of the most successful a kind of manual machine.Since 18th century were invented, bicycle shape, transmission and servicing unit have experienced continuous innovation and development, finally form present model.Be accompanied by the variation of bicycle, the mankind also never stop the research of its principle of work, comprise the gyroscopic effect being accepted most, front-wheel wake effect, and to centrifugal action, but, also fail so far thoroughly to study and know that bicycle maintains statokinetic principle.
At present, the research that maintains stable equilibrium's principle for bicycle is main mainly with theoretical property calculation.Construct a pose that can measure front and back wheel motion state, vehicle frame, regulate front-wheel tail, perception surrounding environment without person bicycle, for explore bicycle from steady principle, excite the learning interest of student or science and technology hobby, have great importance.
Summary of the invention
Adopt in daily life everybody use and the unclear common walking-replacing tool of stability principle as infrastest platform, in conjunction with multi-motion and state measurement unit, form a set of multi-functional experimental provision---without person bicycle experimental provision.This experimental provision not only can be explored bicycle and maintain for professional researchist the principle of balance, can also supply general scientific and technological fan's learning automaton control technology and detection technique.This can be for the student of the relevant specialities such as robotization in vocational education and higher education school, traffic, electronic information, communication engineering without person bicycle experimental system.
In order to achieve the above object, technical scheme of the present invention is as follows:
A kind of unmanned function of bicycle testing experimental system, comprises balance control bicycle model, vehicle body stabilizing control system, attitude test device and system balancing status monitoring and analytic system; Described attitude test device is arranged on balance control bicycle model, and described balance control bicycle model, is stablized thereby control vehicle body by amendment parameters by wireless signal control by vehicle body stabilizing control system; Balance control bicycle model sends wireless signal to vehicle body stabilizing control system, provides the real-time parameter of the each attitude test device of vehicle body, thereby makes vehicle body stabilizing control system realize closed-loop control; Vehicle body stabilizing control system is by the attitude test device real-time parameter obtaining by being wirelessly sent to system balancing status monitoring and analytic system simultaneously, and system balancing status monitoring and analytic system confluence analysis data, for studying car body balance control principle.
Above-mentioned balance control bicycle model comprises front-wheel drive, rear wheel drive, energy source, front-wheel tail regulating device;
Described energy source provides energy source for front-wheel drive, rear wheel drive, front-wheel tail regulating device;
Described front-wheel tail regulating device is for automatically regulating the size of front-wheel tail;
Described front-wheel steer provides PWM ripple control steering angle by DC brushless motor processor, and described front and back wheel drives all independent of driving wheel.
Above-mentioned attitude test device comprises:
Front-wheel velocity survey scrambler, trailing wheel velocity survey scrambler, for measuring bicycle model front and back wheel speed;
Front-wheel steer angular velocity measurement scrambler, rear-axle steering angular velocity measurement scrambler, the angle and the angular velocity that rotate for measuring bicycle model motion front-wheel steer and front and back wheel;
Be installed on the body gesture three-axis gyroscope on vehicle frame, three axial degree of tilt when measuring car body balance.Vehicle frame is the basic structure body that forms bicycle, is skeleton and the main body of bicycle.When installation, require gyroscope and vehicle frame in same plane;
Be installed on the body gesture 3-axis acceleration sensor of vehicle frame geometric center position, three axial acceleration when measuring car body balance.
Above-mentioned vehicle body stabilizing control system comprises:
The counterweight control system of car body balance, for controlling the lateral balance (as uprightly, or maintaining certain angle of inclination) of vehicle body;
Front-wheel direction speed control system, for controlling front-wheel drive speed and front-wheel steer angle;
Vehicle body direction speed control system, for travel direction control on body structure and rear wheel drive control;
Vehicle body status display system, shows body gesture and each module controls parameter in real time by liquid crystal display;
Programmable control unit, comprises control switch able to programme and control button able to programme, the heavy scale-of-two control program of programming Control switch composition 2～8, and indicated by signal lamp; Control button able to programme, in order to real-time adjusting Body Control parameter;
Warning device, runs and flies for system program, is absorbed in the System self-test device of endless loop and system hardware module damage.
The wireless transmission method of above-mentioned whole system can be any of the radio communications such as ZigBee, WiFi or Bluetooth.
The beneficial effect that the present invention reaches:
1, bicycle be a kind of very easily, the green traffic instrument of everybody use almost, but why it can stablize, not clear so far.Even in academic research field, the stabiliser of bicycle does not still have generally accepted explanation.
2, without the research of person bicycle for automotive safety provides crucial solution, attract people to explore the research of the aspect such as environment sensing and motion control wherein.Be undoubtedly a kind of alternate test product of good unmanned vehicle without person bicycle.In addition, be different from automobile, bicycle belongs to the two-wheeled vehicles, and controlling difficulty also increases to some extent.
3, not only can provide a kind of pilot system for student or scientific and technological fan without person bicycle, and can provide test platform easily for professional researchist tests various bicycle stable theories.
4, this experimental system can regulate the size of front-wheel tail automatically, studies the effect of front-wheel tail under various motion states, at various movement velocitys---speed, and Different Exercise Mode---as kept straight on, turning, wait and under many adjustings, study front-wheel wake effect.
5, relate to all many-sides such as state-detection, motion control, environment sensing without person bicycle, can provide a kind of test platform for all multi-specialized students such as robotization, detection technique, control engineering, robot, machine vision.
Brief description of the drawings
Fig. 1 is system schematic of the present invention;
Fig. 2 is the structural representation of balance control bicycle model;
Fig. 3 is the system chart of vehicle body stabilizing control system.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.Following examples are only for technical scheme of the present invention is more clearly described, and can not limit the scope of the invention with this.
As shown in Figure 1, a kind of unmanned function of bicycle testing experimental system, comprises balance control bicycle model, vehicle body stabilizing control system, attitude test device and system balancing status monitoring and analytic system; Described attitude test device is arranged on balance control bicycle model, and described balance control bicycle model, is stablized thereby control vehicle body by amendment parameters by wireless signal control by vehicle body stabilizing control system; Balance control bicycle model sends wireless signal to vehicle body stabilizing control system, provides the real-time parameter of the each attitude test device of vehicle body, thereby makes vehicle body stabilizing control system realize closed-loop control; Vehicle body stabilizing control system is by the attitude test device real-time parameter obtaining by being wirelessly sent to system balancing status monitoring and analytic system simultaneously, and system balancing status monitoring and analytic system confluence analysis data, for studying car body balance control principle.
As shown in Figure 2, above-mentioned balance control bicycle model comprises front-wheel drive 1, rear wheel drive 2, energy source 3, front-wheel tail regulating device;
Described energy source 3 provides energy source for front-wheel drive, rear wheel drive, front-wheel tail regulating device;
Described front-wheel tail regulating device is for automatically regulating the size of front-wheel tail;
Described front-wheel steer provides PWM ripple control steering angle by DC brushless motor processor, and described front and back wheel drives all independent of driving wheel.
Above-mentioned attitude test device comprises:
Front-wheel velocity survey scrambler, trailing wheel velocity survey scrambler, for measuring bicycle model front and back wheel speed;
Front-wheel steer angular velocity measurement scrambler, rear-axle steering angular velocity measurement scrambler, the angle and the angular velocity that rotate for measuring bicycle model motion front-wheel steer and front and back wheel;
Be installed on the body gesture three-axis gyroscope on vehicle frame, three axial degree of tilt when measuring car body balance.Vehicle frame is the basic structure body that forms bicycle, is skeleton and the main body of bicycle.When installation, require gyroscope and vehicle frame in same plane;
Be installed on the body gesture 3-axis acceleration sensor 8 of vehicle frame geometric center position, three axial acceleration when measuring car body balance.
As shown in Figure 3, above-mentioned vehicle body stabilizing control system comprises:
The counterweight control system 4 of car body balance, for controlling the lateral balance (as uprightly, or maintaining certain angle of inclination) of vehicle body;
Front-wheel direction speed control system 5, for controlling front-wheel drive speed and front-wheel steer angle;
Vehicle body direction speed control system 7, for travel direction control on body structure and rear wheel drive control;
Vehicle body status display system, shows body gesture and each module controls parameter in real time by liquid crystal display;
Programmable control unit, comprises control switch able to programme and control button able to programme, the heavy scale-of-two control program of programming Control switch composition 2～8, and indicated by signal lamp; Control button able to programme, in order to real-time adjusting Body Control parameter;
Warning device, runs and flies for system program, is absorbed in the System self-test device of endless loop and system hardware module damage.
The wireless transmission method of above-mentioned whole system can be any of the radio communications such as ZigBee, WiFi or Bluetooth.
Embodiment:
The parameter that this experimental system can be tested refers to table 1
Table 1
1. measure front-wheel speed, in cycling process, front-wheel is rotating, velocity of rotation is delivered to scrambler by transmission gear, scrambler is converted into speed by internal optics counter the square wave of exporting in the unit interval, by square wave counting, can record current front-wheel movement velocity;
2. the same, can survey trailing wheel speed;
3. measure the impact of movement velocity body side balance.Adopt rear wheel drive mode, progressively motor speed is adjusted to A, record the vehicle body pose that gyroscope records.Equally, motor speed is adjusted to B, records the vehicle body pose that gyroscope records.Change the impact of known speed on body side balance by analyzing friction speed institute pose.Multipolar dynamo speed can be set, repeat above-mentioned steps.
4. change front-wheel drive into, repeat 3, the impact of observation speed on car body balance.By different driving mode under more same speed, can the impact of analysis-driven mode on car body balance.
5. the gentle algorithm of vehicle body.After bicycle operation, an approximate inverted pendulum, thereby can be for studying stable control algolithm.By the measurement result of gyroscope Position and attitude sensor, can accurately know algorithm performance.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.
Claims (5)
1. a unmanned function of bicycle testing experimental system, is characterized in that comprising balance control bicycle model, vehicle body stabilizing control system, attitude test device and system balancing status monitoring and analytic system; Described attitude test device is arranged on balance control bicycle model, and described balance control bicycle model, is stablized thereby control vehicle body by amendment parameters by wireless signal control by vehicle body stabilizing control system; Balance control bicycle model sends wireless signal to vehicle body stabilizing control system, provides the real-time parameter of the each attitude test device of vehicle body, thereby makes vehicle body stabilizing control system realize closed-loop control; Vehicle body stabilizing control system is by the attitude test device real-time parameter obtaining by being wirelessly sent to system balancing status monitoring and analytic system simultaneously, and system balancing status monitoring and analytic system confluence analysis data, for studying car body balance control principle.
2. unmanned function of bicycle testing experimental system according to claim 1, is characterized in that: described balance control bicycle model comprises front-wheel drive, rear wheel drive, energy source, front-wheel tail regulating device;
Described energy source provides energy source for front-wheel drive, rear wheel drive, front-wheel tail regulating device;
Described front-wheel tail regulating device is for automatically regulating the size of front-wheel tail;
Described front-wheel steer provides PWM ripple control steering angle by DC brushless motor processor, and described front and back wheel drives all independent of driving wheel.
3. unmanned function of bicycle testing experimental system according to claim 1, is characterized in that: described attitude test device comprises:
Front-wheel velocity survey scrambler, trailing wheel velocity survey scrambler, for measuring bicycle model front and back wheel speed;
Front-wheel steer angular velocity measurement scrambler, rear-axle steering angular velocity measurement scrambler, the angle and the angular velocity that rotate for measuring bicycle model motion front-wheel steer and front and back wheel;
Be installed on the body gesture three-axis gyroscope on vehicle frame, three axial degree of tilt when measuring car body balance;
Vehicle frame is the basic structure body that forms bicycle, is skeleton and the main body of bicycle;
When installation, require gyroscope and vehicle frame in same plane;
Be installed on the body gesture 3-axis acceleration sensor of vehicle frame geometric center position, three axial acceleration when measuring car body balance.
4. unmanned function of bicycle testing experimental system according to claim 1, is characterized in that: described vehicle body stabilizing control system comprises:
The counterweight control system of car body balance, for controlling the lateral balance of vehicle body;
Front-wheel direction speed control system, for controlling front-wheel drive speed and front-wheel steer angle;
Vehicle body direction speed control system, for travel direction control on body structure and rear wheel drive control;
Vehicle body status display system, shows body gesture and each module controls parameter in real time by liquid crystal display;
Programmable control unit, comprises control switch able to programme and control button able to programme, the heavy scale-of-two control program of programming Control switch composition 2～8, and indicated by signal lamp; Control button able to programme, in order to real-time adjusting Body Control parameter;
Warning device, runs and flies for system program, is absorbed in the System self-test device of endless loop and system hardware module damage.
5. unmanned function of bicycle testing experimental system according to claim 1, is characterized in that: the wireless transmission method of described whole system can be any of the radio communications such as ZigBee, WiFi or Bluetooth.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104635703A (en) * | 2015-01-28 | 2015-05-20 | 杭州云造科技有限公司 | Electric bicycle intelligent networking terminal and electric bicycle intelligent networking system |
| CN105573325A (en) * | 2016-01-22 | 2016-05-11 | 深圳市万兴利民科技有限公司 | Control method and control system for unmanned bicycle |
| CN106919177A (en) * | 2017-03-31 | 2017-07-04 | 深圳市靖洲科技有限公司 | A kind of unmanned balance of bicycle control method based on rate gyroscope |
| CN107264697A (en) * | 2017-06-01 | 2017-10-20 | 浙江大学 | A kind of unmanned self-balancing traveling two-wheeled steering |
| CN107932489A (en) * | 2018-01-15 | 2018-04-20 | 哈尔滨理工大学 | A kind of robot cycling device and control method |
| CN109492318A (en) * | 2018-11-22 | 2019-03-19 | 北京师范大学珠海分校 | Autonomic balance travels bicycle mechanical dynamical system and its Multi-body dynamic model |
| CN111284629A (en) * | 2020-02-28 | 2020-06-16 | 山东建筑大学 | Self-balancing bicycle and control method thereof |
| CN113485309A (en) * | 2021-08-03 | 2021-10-08 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device and system, robot controller and medium |
| CN116429453A (en) * | 2023-04-25 | 2023-07-14 | 山东大迈车业有限公司 | Electric vehicle frame compression resistance testing system based on Internet of things |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635703A (en) * | 2015-01-28 | 2015-05-20 | 杭州云造科技有限公司 | Electric bicycle intelligent networking terminal and electric bicycle intelligent networking system |
| CN105573325A (en) * | 2016-01-22 | 2016-05-11 | 深圳市万兴利民科技有限公司 | Control method and control system for unmanned bicycle |
| CN106919177A (en) * | 2017-03-31 | 2017-07-04 | 深圳市靖洲科技有限公司 | A kind of unmanned balance of bicycle control method based on rate gyroscope |
| CN107264697A (en) * | 2017-06-01 | 2017-10-20 | 浙江大学 | A kind of unmanned self-balancing traveling two-wheeled steering |
| CN107932489A (en) * | 2018-01-15 | 2018-04-20 | 哈尔滨理工大学 | A kind of robot cycling device and control method |
| CN109492318B (en) * | 2018-11-22 | 2023-04-07 | 北京师范大学珠海分校 | Mechanical power system of self-balance running bicycle and multi-rigid-body dynamic model thereof |
| CN109492318A (en) * | 2018-11-22 | 2019-03-19 | 北京师范大学珠海分校 | Autonomic balance travels bicycle mechanical dynamical system and its Multi-body dynamic model |
| CN111284629A (en) * | 2020-02-28 | 2020-06-16 | 山东建筑大学 | Self-balancing bicycle and control method thereof |
| CN111284629B (en) * | 2020-02-28 | 2021-09-24 | 山东建筑大学 | Self-balancing bicycle and control method thereof |
| CN113485309A (en) * | 2021-08-03 | 2021-10-08 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device and system, robot controller and medium |
| CN113485309B (en) * | 2021-08-03 | 2022-12-02 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device, system, robot controller and medium |
| CN116429453A (en) * | 2023-04-25 | 2023-07-14 | 山东大迈车业有限公司 | Electric vehicle frame compression resistance testing system based on Internet of things |
| CN116429453B (en) * | 2023-04-25 | 2024-04-16 | 山东大迈车业有限公司 | Electric vehicle frame compression resistance testing system based on Internet of things |
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