CN104122098B - Unmanned function of bicycle testing experimental system - Google Patents
Unmanned function of bicycle testing experimental system Download PDFInfo
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- CN104122098B CN104122098B CN201410375439.2A CN201410375439A CN104122098B CN 104122098 B CN104122098 B CN 104122098B CN 201410375439 A CN201410375439 A CN 201410375439A CN 104122098 B CN104122098 B CN 104122098B
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Abstract
The invention discloses a kind of unmanned function of bicycle testing experimental system, control bicycle model, vehicle body stabilizing control system, attitude test device and system balancing status monitoring and the system of analysis including balance；Attitude test device is arranged on balance and controls on bicycle model, and balance is controlled bicycle model and controlled by wireless signal by vehicle body stabilizing control system；Balance controls bicycle model and then sends wireless signal to vehicle body stabilizing control system, provides the real-time parameter of vehicle body each attitude test device；Simultaneously vehicle body stabilizing control system by the attitude test device real-time parameter of acquisition by being wirelessly sent to system balancing status monitoring and analysis system, system balancing status monitoring with analyze system combination analytical data, be used for studying car body balance control principle.The present invention can be that all multi-specialized students such as automatization, detection technique, control engineering, robot, machine vision provide a kind of test platform.
Description
Technical field
The present invention relates to the experimental system of a kind of Automatic control and measure technology, especially bicycle automatically control, stability
Analyze and the experimental study device of motion state detection, belong to balance control system testing equipment technical field.
Background technology
Bicycle is that everybody is familiar with, extremely convenient walking-replacing tool, it may be said that be the most successful a kind of people of man invented
One of power machinery.Since 18th century were invented, bicycle shape, transmission and auxiliary device experienced by constantly innovation and send out
Exhibition, ultimately forms present model.Along with the change of bicycle, the research of its operation principle is the most never stopped by the mankind, bag
Include the gyroscopic effect being accepted most, front-wheel wake effect, to centrifugal action, but, also fail to thoroughly to study clear so far
Bicycle maintains statokinetic principle.
The research maintaining principle stable equilibrium currently for bicycle is many based on theoretical property calculation.Construct a can
Measure front and back wheel kinestate, the pose of vehicle frame, regulation front-wheel tail, perception surrounding without person bicycle, for exploration
Bicycle from steady principle, excite student or the learning interest of science and technology hobby, have great importance.
Summary of the invention
Use in daily life everybody use and based on the unclear common walking-replacing tool of stability principle
Experiment porch, in conjunction with multi-motion and status measurement units, constitutes a set of multi-functional experimental provision real without person bicycle
Experiment device.This experimental provision is not only available for specialty research worker and explores the principle of bicycle maintenance balance, it is also possible to for general section
Skill fan's learning automaton controls technology and detection technique.This experimental system without person bicycle is available for vocational education and height
Student's use Deng relevant specialities such as automatization, traffic, electronic information, communication engineerings in education school.
In order to achieve the above object, technical scheme is as follows:
A kind of unmanned function of bicycle testing experimental system, controls bicycle model including balance, vehicle body stability contorting system
System, attitude test device and system balancing status monitoring and the system of analysis；Described attitude test device is arranged on balance and controls certainly
On driving model, described balance is controlled bicycle model and is controlled by wireless signal by vehicle body stabilizing control system, by amendment
Parameters thus to control vehicle body stable；Balance controls bicycle model and then sends wireless signal to vehicle body stabilizing control system,
Provide the real-time parameter of vehicle body each attitude test device, so that vehicle body stabilizing control system realizes closed loop control；Vehicle body simultaneously
Stabilizing control system by the attitude test device real-time parameter of acquisition by being wirelessly sent to system balancing status monitoring and analysis
System, system balancing status monitoring and analysis system combination analytical data, be used for studying car body balance control principle.
Above-mentioned balance controls bicycle model and includes front-wheel drive, rear wheel drive, energy source, front-wheel tail adjusting means；
Described energy source is front-wheel drive, rear wheel drive, front-wheel tail adjusting means provide energy source；
Described front-wheel tail adjusting means is for being automatically adjusted the size of front-wheel tail；
Described front-wheel steer provides PWM ripple to control steering angle, described wheel driving front and back by DC brushless motor processor
Dynamic all independent as driving wheel.
Above-mentioned attitude test device includes:
Front-wheel tachometric survey encoder, trailing wheel tachometric survey encoder, be used for measuring bicycle model front and back wheel speed；
Front-wheel steer angular velocity measurement encoder, rear-axle steering angular velocity measurement encoder, be used for measuring bicycle model
Angle that in motion, front-wheel steer and front and back wheel rotate and angular velocity；
The body gesture three-axis gyroscope being installed on vehicle frame, three axial gradient when being used for measuring car body balance.
Vehicle frame is the basic structure body constituting bicycle, is skeleton and the main body of bicycle.During installation, it is desirable to gyroscope is in vehicle frame
Same plane；
It is installed on the body gesture 3-axis acceleration sensor of vehicle frame geometric center position, when being used for measuring car body balance three
Axial acceleration.
Above-mentioned vehicle body stabilizing control system includes:
The counterweight control system of car body balance, (as uprightly, or maintains certain inclination angle for controlling the lateral balance of vehicle body
Degree)；
Front-wheel direction speed control system, is used for controlling front-wheel drive speed and front-wheel steer angle；
Vehicle body direction speed control system, controls for travel direction on body structure and rear wheel drive controls；
Vehicle body status display system, shows in real time that by liquid crystal display body gesture and each module control parameter；
Programmable control unit, including PLC technology switch and PLC technology button, programming Control switch composition 2～
8 weight binary system control programs, and indicated by signal lights；PLC technology button, in order to regulation Body Control parameter in real time；
Alarm device, runs for system program and flies, be 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 appointing of the radio communications such as ZigBee, WiFi or Bluetooth
What is a kind of.
The beneficial effect that the present invention is reached:
1, bicycle be a kind of very easily, almost everybody green traffic instrument, but why it can be steady
Fixed, the most not clear.Even if in academic research field, the stabiliser of bicycle does not still have generally accepted explanation.
2, the research without person bicycle provides crucial solution for automotive safety, attracts people to explore ring therein
The research of the aspects such as border perception and motor control.The alternate test product of a kind of good unmanned vehicle it are undoubtedly without person bicycle.This
Outward, being different from automobile, bicycle belongs to the two-wheeled vehicles, controls difficulty and also increased.
3, a kind of pilot system can not only be provided for student or science and technology fan without person bicycle, and can be specialty
Research worker is tested various bicycle stable theories and is provided test platform easily.
4, this experimental system can be automatically adjusted the size of front-wheel tail, studies the work of front-wheel tail under various kinestate
With, at various movement velocity speeds, Different Exercise Mode, as kept straight on, turning, waits research front-wheel tail under many regulations
Mark effect.
5, relate to all many-sides such as state-detection, motor control, environment sensing without person bicycle, can be automatization,
All multi-specialized students such as detection technique, control engineering, robot, machine vision provide a kind of test platform.
Accompanying drawing explanation
Fig. 1 is the system schematic of the present invention；
Fig. 2 is the structural representation that balance controls bicycle model；
Fig. 3 is the system block diagram of vehicle body stabilizing control system.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
As it is shown in figure 1, a kind of unmanned function of bicycle testing experimental system, control bicycle model, vehicle body including balance
Stabilizing control system, attitude test device and system balancing status monitoring and the system of analysis；Described attitude test device is arranged on
Balance controls on bicycle model, and described balance controls bicycle model by vehicle body stabilizing control system by wireless signal control
System, controls vehicle body stablize by revising parameters；Balance controls bicycle model and then sends out to vehicle body stabilizing control system
Send wireless signal, provide the real-time parameter of vehicle body each attitude test device, so that vehicle body stabilizing control system realizes closed loop control
System；Simultaneously vehicle body stabilizing control system by the attitude test device real-time parameter of acquisition by being wirelessly sent to system balancing state
Monitoring and the system of analysis, system balancing status monitoring and analysis system combination analytical data, be used for studying car body balance and control former
Reason.
As in figure 2 it is shown, above-mentioned balance controls bicycle model includes front-wheel drive 1, rear wheel drive 2, energy source 3, front-wheel
Tail adjusting means；
Described energy source 3 is front-wheel drive, rear wheel drive, front-wheel tail adjusting means provide energy source；
Described front-wheel tail adjusting means is for being automatically adjusted the size of front-wheel tail；
Described front-wheel steer provides PWM ripple to control steering angle, described wheel driving front and back by DC brushless motor processor
Dynamic all independent as driving wheel.
Above-mentioned attitude test device includes:
Front-wheel tachometric survey encoder, trailing wheel tachometric survey encoder, be used for measuring bicycle model front and back wheel speed；
Front-wheel steer angular velocity measurement encoder, rear-axle steering angular velocity measurement encoder, be used for measuring bicycle model
Angle that in motion, front-wheel steer and front and back wheel rotate and angular velocity；
The body gesture three-axis gyroscope being installed on vehicle frame, three axial gradient when being used for measuring car body balance.
Vehicle frame is the basic structure body constituting bicycle, is skeleton and the main body of bicycle.During installation, it is desirable to gyroscope is in vehicle frame
Same plane；
It is installed on the body gesture 3-axis acceleration sensor 8 of vehicle frame geometric center position, when being used for measuring car body balance
Three axial acceleration.
As it is shown on figure 3, above-mentioned vehicle body stabilizing control system includes:
The counterweight control system 4 of car body balance, (as uprightly, or maintains certain inclination angle for controlling the lateral balance of vehicle body
Degree)；
Front-wheel direction speed control system 5, is used for controlling front-wheel drive speed and front-wheel steer angle；
Vehicle body direction speed control system 7, controls for travel direction on body structure and rear wheel drive controls；
Vehicle body status display system, shows in real time that by liquid crystal display body gesture and each module control parameter；
Programmable control unit, including PLC technology switch and PLC technology button, programming Control switch composition 2～
8 weight binary system control programs, and indicated by signal lights；PLC technology button, in order to regulation Body Control parameter in real time；
Alarm device, runs for system program and flies, be 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 appointing of the radio communications such as ZigBee, WiFi or Bluetooth
What is a kind of.
Embodiment:
The parameter that this experimental system can be tested refers to table 1
Table 1
1. wheel speed before measuring, during cycling, front-wheel is rotating, and velocity of rotation is delivered to by travelling gear
Encoder, speed is converted in the unit interval square wave exported by encoder by internal optics enumerator, by square wave meter
Number, can record current front wheel motion speed；
The most ibid, wheel speed after can surveying；
3. measure the impact of movement velocity body side balance.Use rear wheel drive mode, progressively motor speed is adjusted to
A, the vehicle body pose that record gyroscope records.Equally, motor speed is adjusted to B, the vehicle body pose that record gyroscope records.Logical
Cross the pose change of analysis friction speed institute, it is known that the impact that body side is balanced by speed.Multipolar dynamo speed can be set, repeat
Above-mentioned steps.
4. change front-wheel drive into, repeat 3, observe the speed impact on car body balance.By different under relatively same speed
Type of drive, can be with the impact on car body balance of the analysis-driven mode.
5. the gentle algorithm of vehicle body.After bicycle runs, approximate an inverted pendulum, thus may be used for studying stability contorting
Algorithm.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 is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (4)
1. a unmanned function of bicycle testing experimental system, is characterized in that including that balance controls bicycle model, vehicle body is stable
Control system, attitude test device and system balancing status monitoring and the system of analysis；Described attitude test device is arranged on balance
Controlling on bicycle model, described balance is controlled bicycle model and is controlled by wireless signal by vehicle body stabilizing control system, logical
Cross amendment parameters thus control vehicle body and stablize；Balance controls bicycle model and then sends wireless to vehicle body stabilizing control system
Signal, provides the real-time parameter of vehicle body each attitude test device, so that vehicle body stabilizing control system realizes closed loop control；Simultaneously
Vehicle body stabilizing control system by the attitude test device real-time parameter of acquisition by be wirelessly sent to system balancing status monitoring with
Analysis system, system balancing status monitoring and analysis system combination analytical data, be used for studying car body balance control principle；
Described balance controls bicycle model and includes front-wheel drive, rear wheel drive, energy source, front-wheel tail adjusting means；
Described energy source is front-wheel drive, rear wheel drive, front-wheel tail adjusting means provide energy source；
Described front-wheel tail adjusting means is for being automatically adjusted the size of front-wheel tail；
Described front-wheel steer provides PWM ripple to control steering angle by DC brushless motor processor, and described front and back wheel drives all
Independent as driving wheel.
Unmanned function of bicycle testing experimental system the most according to claim 1, it is characterised in that: described attitude test fills
Put and include:
Front-wheel tachometric survey encoder, trailing wheel tachometric survey encoder, be used for measuring bicycle model front and back wheel speed；
Front-wheel steer angular velocity measurement encoder, rear-axle steering angular velocity measurement encoder, be used for measuring bicycle model motion
Angle that middle front-wheel steer and front and back wheel rotate and angular velocity；
The body gesture three-axis gyroscope being installed on vehicle frame, three axial gradient when being used for measuring car body balance；
Vehicle frame is the basic structure body constituting bicycle, is skeleton and the main body of bicycle；
During installation, it is desirable to gyroscope and vehicle frame are in same plane；
It is installed on the body gesture 3-axis acceleration sensor of vehicle frame geometric center position, three axle sides when being used for measuring car body balance
To acceleration.
Unmanned function of bicycle testing experimental system the most according to claim 1, it is characterised in that: described vehicle body is stably controlled
System processed includes:
The counterweight control system of car body balance, for controlling the lateral balance of vehicle body；
Front-wheel direction speed control system, is used for controlling front-wheel drive speed and front-wheel steer angle；
Vehicle body direction speed control system, controls for travel direction on body structure and rear wheel drive controls；
Vehicle body status display system, shows in real time that by liquid crystal display body gesture and each module control parameter；
Programmable control unit, including PLC technology switch and PLC technology button, programming Control switch composition 2～8 weights
Binary system control program, and indicated by signal lights；PLC technology button, in order to regulation Body Control parameter in real time；
Alarm device, runs for system program and flies, be absorbed in the System self-test device of endless loop and system hardware module damage.
Unmanned function of bicycle testing experimental system the most according to claim 1, it is characterised in that: described whole system
Wireless transmission method can be any one of the radio communications such as ZigBee, WiFi or Bluetooth.
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Families Citing this family (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 |
| CN105573325B (en) * | 2016-01-22 | 2018-10-30 | 深圳市万兴利民科技有限公司 | The control method and system of 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 |
| CN107264697B (en) * | 2017-06-01 | 2019-07-09 | 浙江大学 | A kind of unmanned self-balancing traveling two-wheeled steering system |
| 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 |
| CN111284629B (en) * | 2020-02-28 | 2021-09-24 | 山东建筑大学 | Self-balancing bicycle and control method thereof |
| 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 |
| 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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| CN201753096U (en) * | 2010-05-28 | 2011-03-02 | 长安大学 | Bicycle robot based on inertial wheel |
| KR101222849B1 (en) * | 2011-04-12 | 2013-01-16 | 창원대학교 산학협력단 | Bicycle-robot with controlling driving, steering and balancing |
| CN103407530A (en) * | 2013-07-14 | 2013-11-27 | 刘军民 | Independent self-balance device of transverse two-wheeled electric bicycle |
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