CN104477052A - Control method of self-balancing man-riding electric unicycle - Google Patents
Control method of self-balancing man-riding electric unicycle Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a control method of a self-balancing man-riding electric unicycle. The method includes: acquiring data from an accelerator and a gyroscope disposed on the unicycle, subjecting the acquired data to Kalman filtering to obtain current tilt angle and tilt angular velocity of the unicycle, acquiring a given motor speed value through a nonlinear PD (proportional plus derivative) controller, acquiring a given torque current value from a difference between the given motor speed value and a currently measured motor speed fed-back value through a PI (proportional plus integral) controller, acquiring a drive signal through vector control, and allowing a motor to output a proper torque to keep the unicycle balanced. The control method has the advantages that a control strategy features good dynamic and static properties, system vibration and noise are reduced, and the unicycle is allowed to self-balance the attitude and to carry a man riding.
Description
Technical Field
The invention belongs to the field of vehicles, and relates to a control method of a self-balancing manned electric monocycle which is automatically balanced front and back during traveling and manually balanced left and right by a rider.
Background
The riding pure mechanical monocycle is an activity which can be completed only by special learning and training. When riding, the balance of the front-back direction and the left-right direction must be maintained simultaneously, and the riding needs the force of people, and the traveling speed is also lower. The electric monocycle is a riding device driven by a motor, is similar to a bicycle and can be smoothly ridden by only mastering the left balance and the right balance. The self-balancing manned electric monocycle controls the front and back balance of the monocycle by the inverted pendulum system principle, a rider places feet on the folding pedals on the two sides of the wheel respectively, the body leans forwards, and in order to keep balance, the motor rotates forwards quickly, and the whole monocycle also runs forwards.
The self-balancing manned electric monocycle is a new-generation energy-saving environment-friendly convenient tool for riding instead of walk, and can ensure the driving safety by limiting the highest running speed to be 18km/h inside a program. The electric monocycle has small size, light weight and convenient carrying, and can be directly placed in a trunk of an automobile to be mentioned at home or in an office.
The invention patent of application No. 201410014863.4 proposes a self-balancing powered unicycle that is simple and compact in construction, but does not present a specific control scheme in detail. The invention patent with the application number of 201210217335.X provides a self-balancing manned wheelbarrow based on an inertia balance wheel, the left-right balance control is achieved, but due to the existence of the inertia balance wheel, the control scheme is complex, and the self-balancing manned wheelbarrow is not suitable for the electric wheelbarrow structure popular in the current market.
Disclosure of Invention
The invention aims to provide a control method of a self-balancing manned electric monocycle, aiming at the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a control method of a self-balancing manned electric monocycle comprises the following steps:
(1) collecting data of an accelerometer and a gyroscope arranged on the electric wheelbarrow to obtain acceleration values and angular velocity values of the electric wheelbarrow xyz on three axes; collecting Hall sensor signals and three-phase stator current on a permanent magnet synchronous motor;
(2) carrying out data fusion on the acceleration values and the angular velocity values of the xyz three axes of the electric monocycle through a Kalman filtering algorithm and filtering noise signals to obtain an inclination angle theta and an inclination angle velocity omega of the electric monocycle;
(3) calculating signals of the Hall sensor to obtain the actual rotating speed n and the rotor position angle of the permanent magnet synchronous motor
(4) Clarke and Park conversion is carried out on the three-phase stator current in sequence to obtain the actual torque current i of the permanent magnet synchronous motorqAnd an excitation current id；
(5) According to the inclination angle theta and the inclination angle speed omega of the electric monocycle, the rotation speed given n of the permanent magnet synchronous motor is calculated*；
(6) Setting n according to the rotating speed of the permanent magnet synchronous motor*And the actual speed n, calculating the given torque current
(7) Setting torque current according to permanent magnet synchronous motorExcitation current settingActual torque current iqAnd an excitation current idCalculating d-axis voltage u applied to the permanent magnet synchronous motordAnd q-axis voltage uqThe excitation current is givenIs 0;
(8) according to d-axis voltage udAnd q-axis voltage uqAnd calculating u under an alpha and beta coordinate system by utilizing Park inverse transformationαAnd uβ；
(9)uαAnd uβControl signals of a three-phase inverter are generated through an SVPWM (space vector pulse width modulation) technology, three-phase voltage is applied to the permanent magnet synchronous motor through the inverter, and the permanent magnet synchronous motor outputs torque T, so that the posture balance of the electric monocycle is kept.
Further: the step (5) is specifically as follows: method for determining given n of rotating speed of permanent magnet synchronous motor by adopting nonlinear PD algorithm*The formula is as follows:
n*＝KPθ+KDω
wherein, KPAs a non-linear scaling parameter, KDAs a non-linear differential parameter, KP，KDThe value of (a) increases as the angle of inclination theta of the powered unicycle increases.
Further, the step (6) is specifically: determining torque current setpoint using linear PI algorithmThe formula is as follows:
en＝n*-n
wherein,in order to be a parameter of the ratio of the speed ring,as a velocity loop integral parameter, enIs the rotation speed of the permanent magnet synchronous motor given by n*The difference from its actual speed n.
Further, the step (7) is specifically: determining u using a linear PI algorithmqThe formula is as follows:
wherein,as a torque current loop proportional parameter,as a torque current loop integral parameter, eiqTorque current setting for permanent magnet synchronous motorWith its actual torque current iqA difference of (d); similarly, u is determined using a linear PI algorithmdThe formula is as follows:
wherein,as a proportional parameter of the excitation current loop,as an excitation current loop integral parameter, eidIs a permanent magnet synchronous motorExcitation current setting ofWith its actual excitation current idThe difference value of (a) to (b),is 0.
The invention has the beneficial effects that: the electric monocycle with different mechanical structures can realize the self-balancing and manned riding functions of the electric monocycle by applying the control method, the dynamic performance of the system is improved by adjusting the nonlinear PD parameters when the rotation speed of the permanent magnet synchronous motor is given by calculating the inclination angle theta and the inclination angle speed omega of the electric monocycle, and the application of the vector control strategy in the control of the permanent magnet synchronous motor not only further improves the dynamic performance of the system, but also reduces the output torque pulsation of the permanent magnet synchronous motor and reduces the vibration and noise of the system.
Drawings
FIG. 1 is a schematic structural view of a self-balancing manned electric unicycle;
FIG. 2 is a control block diagram of a self-balancing manned electric unicycle;
in the figure, an auxiliary wheel 1, a wheel 2, a permanent magnet synchronous motor 3, a pedal 4, a shell 5, a controller 6, a battery pack 7 and a gyroscope 8 are arranged.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the electric unicycle for implementing the control method of the present invention includes an auxiliary wheel 1, a wheel 2, a permanent magnet synchronous motor 3, a pedal 4, a housing 5, a controller 6 and a battery pack 7, wherein the controller 6 and the battery pack 7 are respectively located in a left groove and a right groove of the housing 4, and then are fixed with a cover plate by a silica gel protection pad, and an accelerometer and a gyroscope 8 are located on the controller 6. The control method can be applied to electric wheelbarrows with different mechanical structures to realize self-balancing and manned riding functions.
In order to reduce the torque pulsation output by the permanent magnet synchronous motor and improve the dynamic performance of the self-balancing manned electric monocycle, the control strategy of the permanent magnet synchronous motor adopts vector control capable of realizing high-performance torque dynamic control. The principle of vector control is that stator current is converted into a two-phase rotating coordinate system through coordinate conversion and is decomposed into an excitation current component i for generating a stator magnetic fielddAnd a torque current component i generating torqueqIn a three-phase ac motor, a method of controlling the torque of the dc motor is simulated. The choice of vector control current control varies according to the application and power of the permanent magnet synchronous machine, where i is chosendControl at 0, i.e. the field component of the armature current of the stator of the motor is always zero during the control process, so that the torque output of the motor is only equal to iqAnd the control algorithm is simple to realize, easy to realize in engineering and flexible to control. The invention combines the vector control principle, establishes a control algorithm block diagram of a self-balancing manned electric monocycle based on three closed loops of attitude, rotating speed and current as shown in figure 2, and specifically comprises the following steps:
(1) collecting data of an accelerometer and a gyroscope arranged on the electric wheelbarrow to obtain acceleration values and angular velocity values of the electric wheelbarrow xyz on three axes; collecting Hall sensor signal and three-phase stator current i on permanent magnet synchronous motora，ibAnd ic；
(2) Carrying out data fusion on the acceleration values and the angular velocity values of the xyz three axes of the electric monocycle through a Kalman filtering algorithm and filtering noise signals to obtain an inclination angle theta and an inclination angle velocity omega of the electric monocycle;
(3) calculating signals of the Hall sensor to obtain the actual rotating speed n and the rotor position angle of the permanent magnet synchronous motor
(4) Three-phase current i of motor statora，ibAnd icObtaining i under an alpha beta coordinate system through three-phase static to two-phase static coordinate transformation (Clarke transformation)αAnd iβThe constant amplitude transformation principle is adopted, and the formula is as follows:
iαand iβObtaining the actual torque current i after the conversion of two-phase stationary coordinates to two-phase rotating coordinates (Park conversion)qAnd an excitation current idThe formula is as follows:
(5) according to the inclination angle theta and the inclination angle speed omega of the electric monocycle, the rotation speed given n of the permanent magnet synchronous motor is calculated*. Because the accelerometer and the gyroscope inevitably introduce errors in the measurement process, the controller removes an integration link and adopts a PD algorithm. In the running process of the monocycle, the condition of large load change can cause the inclination angle of the monocycle to suddenly change, and in order to improve the dynamic response capability of the whole system, a nonlinear PD algorithm is adopted, and the formula is as follows:
n*＝KPθ+KDω
wherein, KPAs a non-linear scaling parameter, KDAs a non-linear differential parameter, KP，KDThe value of (a) increases as the angle of inclination theta of the powered unicycle increases.
(6) Setting n according to the rotating speed of the permanent magnet synchronous motor*And the actual speed n, calculating the given torque currentThe formula is as follows:
en＝n*-n
wherein,in order to be a parameter of the ratio of the speed ring,as a velocity loop integral parameter, enIs the rotation speed of the permanent magnet synchronous motor given by n*The difference from its actual speed n.
(7) Setting torque current according to permanent magnet synchronous motorExcitation current settingActual torque current iqAnd an excitation current idCalculating d-axis voltage udAnd q-axis voltage uq. The current control mode is idControl mode 0, excitation current settingIs 0 and the detected actual excitation current idIs subjected to PI to obtain d-axis voltage u applied to the motordThe formula is as follows:
wherein,as a proportional parameter of the excitation current loop,is an excitation current loop integral parameter; given value of torque currentWith actual motor torque current iqIs subjected to PI to obtain q-axis voltage u applied to the motorqThe formula is as follows:
wherein,as a torque current loop proportional parameter,the torque current loop integral parameter.
(8) According to d-axis voltage udAnd q-axis voltage uqAnd calculating u under an alpha and beta coordinate system by utilizing Park inverse transformationαAnd uβThe formula is as follows:
(9)uαand uβGenerating control signals of a three-phase inverter by SVPWM (space vector pulse width modulation) technology, and applying three-phase voltage V to the permanent magnet synchronous motor through the invertera、Vb、VcAnd the permanent magnet synchronous motor outputs torque T, so that the attitude balance of the electric monocycle is kept.
The basic principle of the present invention is described above, the main features of the present invention are not limited to the technical solutions described in the present invention, and all the technical solutions and modifications thereof without departing from the spirit and scope of the present invention should be covered by the claims of the present invention.
Claims (4)
1. A control method of a self-balancing manned electric monocycle is characterized by comprising the following steps:
(1) collecting data of an accelerometer and a gyroscope arranged on the electric wheelbarrow to obtain acceleration values and angular velocity values of the electric wheelbarrow xyz on three axes; collecting Hall sensor signals and three-phase stator current on a permanent magnet synchronous motor;
(2) carrying out data fusion on the acceleration values and the angular velocity values of the xyz three axes of the electric monocycle through a Kalman filtering algorithm and filtering noise signals to obtain an inclination angle theta and an inclination angle velocity omega of the electric monocycle;
(3) calculating signals of the Hall sensor to obtain the actual rotating speed n and the rotor position angle of the permanent magnet synchronous motor
(4) Clarke and Park conversion is carried out on the three-phase stator current in sequence to obtain the actual torque current i of the permanent magnet synchronous motorqAnd an excitation current id；
(5) According to the inclination angle theta and the inclination angle speed omega of the electric monocycle, the rotation speed given n of the permanent magnet synchronous motor is calculated*；
(6) Setting n according to the rotating speed of the permanent magnet synchronous motor*And the actual speed n, calculating the given torque current
(7) Setting torque current according to permanent magnet synchronous motorExcitation current settingActual torque current iqAnd an excitation current idCalculating d-axis voltage u applied to the permanent magnet synchronous motordAnd q-axis voltage uqThe excitation current is givenIs 0;
(8) according to d-axis voltage udAnd q-axis voltage uqAnd calculating u under an alpha and beta coordinate system by utilizing Park inverse transformationαAnd uβ；
(9)uαAnd uβThe control signal of the three-phase inverter is generated by SVPWM (space vector pulse width modulation) technology, the three-phase voltage is applied to the permanent magnet synchronous motor through the inverter, the permanent magnet synchronous motor outputs the torque T,thereby keeping the posture of the electric monocycle balanced.
2. The control method of the self-balancing manned electric unicycle of claim 1, wherein: the step (5) is specifically as follows: method for determining given n of rotating speed of permanent magnet synchronous motor by adopting nonlinear PD algorithm*The formula is as follows:
n*＝KPθ+KDω
wherein, KPAs a non-linear scaling parameter, KDAs a non-linear differential parameter, KP，KDThe value of (a) increases as the angle of inclination theta of the powered unicycle increases.
3. The control method of the self-balancing manned electric unicycle of claim 1, wherein: the step (6) is specifically as follows: determining torque current setpoint using linear PI algorithmThe formula is as follows:
en＝n*-n
wherein,in order to be a parameter of the ratio of the speed ring,as a velocity loop integral parameter, enIs the rotation speed of the permanent magnet synchronous motor given by n*The difference from its actual speed n.
4. The control method of the self-balancing manned electric unicycle of claim 1, wherein: the step (7) is specifically as follows: determining u using a linear PI algorithmqThe formula is as follows:
wherein,as a torque current loop proportional parameter,as a torque current loop integral parameter, eiqTorque current setting for permanent magnet synchronous motorWith its actual torque current iqA difference of (d); similarly, u is determined using a linear PI algorithmdThe formula is as follows:
wherein,as a proportional parameter of the excitation current loop,as an excitation current loop integral parameter, eidExcitation current setting for permanent magnet synchronous motorWith its actual excitation current idThe difference value of (a) to (b),is 0.
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