CN104477052B - A kind of control method of Self-balance manned electric unicycle - Google Patents

Abstract

The invention discloses the control method of a kind of Self-balance manned electric unicycle, first the method gathers the data of accelerometer and the gyroscope being placed on electric unicycle, the data of collection are obtained current car body angle of inclination and inclination angle speed through Kalman filtering, then motor speed set-point is obtained by nonlinear PD control device, the difference of motor speed set-point and the motor speed value of feedback currently recorded obtains the set-point of torque current by PI controller, obtain driving signal finally by vector control method, motor exports suitable torque and keeps the balance of car body.The control strategy of the present invention possesses good dynamic and static state performance, reduces system vibration and noise, it is possible to achieve the attitude self-balancing of electric unicycle and manned function of riding.

Description

A kind of control method of Self-balance manned electric unicycle

Technical field

The invention belongs to field of vehicles, autonomic balance before and after relating in a kind of traveling, left and right relies on bicyclist artificial Control the control method of the Self-balance manned electric unicycle of balance.

Background technology

Purely mechanic wheelbarrow of riding is to need through ad hoc learning and train a kind of activity that just can complete.When riding, Must simultaneously maintain fore-and-aft direction and left and right directions balance, and ride and need people to exert oneself, gait of march also compares Low.Electric unicycle is by motor-driven device of riding, with similar, it is only necessary to the balance about grasp is the most permissible Ride smoothly.Self-balance manned electric unicycle balances before and after controlling car body by reversible pendulum system principle, bicyclist's handle Foot is individually placed on the folding step of wheel both sides, and body forward is inclined, and in order to keep balance, motor is so quick that to rotate forward, Whole car body the most just moves forward.

Self-balance manned electric unicycle is the energy-conserving and environment-protective of a new generation, walking-replacing tool easily, by the internal limit of program It is 18km/h the most at a high speed that system travels, it is ensured that driving safety.The electric unicycle bodily form is small and exquisite, lightweight, is convenient for carrying, permissible It is placed directly in the boot of automobile, mentions family or office.

The patent of invention of Application No. 201410014863.4 proposes Self-balancing electronic wheelbarrow simple and compact for structure, But it is not set forth in concrete control program.The patent of invention of Application No. 201210217335.X propose a kind of based on The Self-balance manned monocycle of inertia balance wheel, it is achieved that left-right balance controls, but the existence of inertia balance wheel, control program Complex it is not suitable for the most popular electric single-wheel bassinet structure yet.

Summary of the invention

Present invention aims to the deficiencies in the prior art, propose the control of a kind of Self-balance manned electric unicycle Method.

It is an object of the invention to be achieved through the following technical solutions: the control of a kind of Self-balance manned electric unicycle Method, the method comprises the steps:

(1) gather the accelerometer being placed on electric unicycle and the data of gyroscope, obtain electric unicycle xyz tri-axle Accekeration and magnitude of angular velocity；Gather the Hall element signal on permagnetic synchronous motor and threephase stator electric current；

(2) accekeration and the magnitude of angular velocity of electric unicycle xyz tri-axle are carried out data by Kalman filtering algorithm Merge and filter noise signal, obtaining tilt angle theta and the inclination angle speed omega of electric unicycle；

(3) Hall element signal is calculated actual speed n and the rotor position angle of permagnetic synchronous motor

(4) threephase stator electric current is carried out successively Clarke and Park conversion, obtains the actual torque of permagnetic synchronous motor Electric current i_qWith exciting current i_d；

(5) according to tilt angle theta and the inclination angle speed omega of electric unicycle, the rotation speed of permagnetic synchronous motor is calculated The given n of degree^*；

(6) n is given according to the velocity of rotation of permagnetic synchronous motor^*And actual speed n, calculate torque current and give

(7) give according to the torque current of permagnetic synchronous motorExciting current givesActual torque electric current i_qWith encourage Magnetoelectricity stream i_d, calculate the d shaft voltage u applied to permagnetic synchronous motor_dWith q shaft voltage u_q, described exciting current givesIt is 0；

(8) according to d shaft voltage u_dWith q shaft voltage u_q, utilize Park inverse transformation to calculate the u under α β coordinate system_αAnd u_β；

(9)u_αAnd u_βGenerated the control signal of three-phase inverter by SVPWM (space vector pulse width modulation) technology, pass through Inverter applies three-phase voltage, permagnetic synchronous motor output torque T to permagnetic synchronous motor, thus keeps the appearance of electric unicycle State balances.

Further: described step (5) is particularly as follows: use NONLINEAR PD algorithm to determine the velocity of rotation of permagnetic synchronous motor Given n^*, formula is as follows:

n^*=K_Pθ+K_Dω

Wherein, K_PFor non-linear ratio's parameter, K_DFor non-linear differential parameter, K_P, K_DValue incline along with electric unicycle The increase of rake angle θ and increase.

Further, particularly as follows: use linear PI algorithm to determine, torque current gives described step (6)Formula is as follows:

$i_q^{*}=K_P^n{e}_n+K_I^n{\∫e}_n\mathrm{dt}$

e_n=n^*-n

Wherein,For velocity loop proportional parameter,For speed ring integral parameter, e_nIt is the rotation speed of permagnetic synchronous motor The given n of degree^*Difference with the rotating speed n of its reality.

Further, described step (7) is particularly as follows: use linear PI algorithm to determine u_q, formula is as follows:

$u_q=K_P^{\mathrm{iq}}{e}_{\mathrm{iq}}+K_I^{\mathrm{iq}}{\∫e}_{\mathrm{iq}}\mathrm{dt}$

$e_{\mathrm{iq}}=i_q^{*}-i_q$

Wherein,For torque current ring scale parameter,For torque current ring integral parameter, e_iqIt it is permagnetic synchronous motor Torque current giveWith its actual torque current i_qDifference；Similarly, linear PI algorithm is used to determine u_d, formula is as follows:

$u_d=K_P^{\mathrm{id}}{e}_{\mathrm{id}}+K_I^{\mathrm{id}}{\∫e}_{\mathrm{id}}\mathrm{dt}$

$e_{\mathrm{id}}=i_d^{*}-i_d=-i_d$

Wherein,For exciting current ring scale parameter,For exciting current ring integral parameter, e_idIt it is permanent magnet synchronous electric The exciting current of machine givesWith its actual exciting current i_dDifference,It is 0.

The invention has the beneficial effects as follows: the electric unicycle of different frame for movements can apply control method of the present invention real The self-balancing of existing electric unicycle and manned function of riding, by tilt angle theta and the inclination angle speed omega of electric unicycle When calculating permagnetic synchronous motor rotational speed setup, by the adjustment of NONLINEAR PD parameter, improve the dynamic property of system, permanent magnetism is same In step motor control, the application of vector control strategy not only further increases the dynamic property of system, and it is same to reduce permanent magnetism The output torque pulsation of step motor, reduces system vibration and noise.

Accompanying drawing explanation

Fig. 1 is the structural representation of Self-balance manned electric unicycle；

Fig. 2 is the control block diagram of Self-balance manned electric unicycle；

In figure, auxiliary wheel 1, wheel 2, permagnetic synchronous motor 3, pedal 4, shell 5, controller 6, set of cells 7, gyroscope 8.

Detailed description of the invention

Below in conjunction with the accompanying drawings and the present invention is described in further detail by detailed description of the invention.

As it is shown in figure 1, for a kind of electric unicycle realizing control method of the present invention, including auxiliary wheel 1, wheel 2, Permagnetic synchronous motor 3, pedal 4, shell 5, controller 6 and set of cells 7, wherein, described controller 6 and set of cells 7 lay respectively at In the groove of two, the left and right of shell 4, then fixing with cover plate integral piece with silica gel protected pad, accelerometer and gyroscope 8 are positioned at On controller 6.For the electric unicycle of different frame for movements can apply control method of the present invention realize self-balancing and Manned function of riding.

In order to reduce the torque pulsation of permagnetic synchronous motor output, improve the dynamic of Self-balance manned electric unicycle Can, in the present invention, permagnetic synchronous motor control strategy uses and can realize the vector controlled that high-performance torque dynamically controls.Vector The principle controlled is to be transformed under biphase rotating coordinate system by stator current by coordinate transform, resolves into and produces stator field Excitation current component i_dWith the torque current component i producing torque_q, three phase alternating current motor is managed analog DC motor Direct torque mode.Application scenario according to permagnetic synchronous motor and the difference of power, the selection that vector controlled electric current controls is also Different, i is selected at this_d=0 controls, i.e. the excitation component of motor stator armature supply is always zero during controlling, So torque of motor only exports and i_qRelevant, control algolithm realizes simple, it is easy to Project Realization, and controls flexibly.The present invention In conjunction with principle of vector control, setting up based on attitude, the control of the Self-balance manned electric unicycle of rotating speed and electric current three closed loop is calculated Method block diagram is as in figure 2 it is shown, specifically include following steps:

(1) gather the accelerometer being placed on electric unicycle and the data of gyroscope, obtain electric unicycle xyz tri-axle Accekeration and magnitude of angular velocity；Gather the Hall element signal on permagnetic synchronous motor and threephase stator electric current i_a, i_bWith i_c；

(2) accekeration and the magnitude of angular velocity of electric unicycle xyz tri-axle are carried out data by Kalman filtering algorithm Merge and filter noise signal, obtaining tilt angle theta and the inclination angle speed omega of electric unicycle；

(3) Hall element signal is calculated actual speed n and the rotor position angle of permagnetic synchronous motor

(4) motor stator three-phase current i_a, i_bAnd i_c, convert (Clarke change through three phase static to biphase static coordinate Change) obtain i under α β coordinate system_αAnd i_β, using permanent amplitude transformation principle, formula is as follows:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]$

i_αAnd i_βThrough biphase static to the torque current i obtaining reality after biphase rotating coordinate transformation (Park conversion)_q With exciting current i_d, formula is as follows:

(5) according to tilt angle theta and the inclination angle speed omega of electric unicycle, the rotation speed of permagnetic synchronous motor is calculated The given n of degree^*.Owing to accelerometer and gyroscope are during measuring, it is impossible to the meeting avoided introduces error, so controller goes Fall integral element, use PD algorithm.In wheelbarrow running, there is the situation that load changes greatly, car body can be caused to incline Undergoing mutation in angle, in order to improve the dynamic response capability of whole system, uses NONLINEAR PD algorithm, and formula is as follows:

n^*=K_Pθ+K_Dω

Wherein, K_PFor non-linear ratio's parameter, K_DFor non-linear differential parameter, K_P, K_DValue incline along with electric unicycle The increase of rake angle θ and increase.

(6) n is given according to the velocity of rotation of permagnetic synchronous motor^*And actual speed n, calculate torque current and giveCalculate Formula is as follows:

$i_q^{*}=K_P^n{e}_n+K_I^n{\∫e}_n\mathrm{dt}$

e_n=n^*-n

Wherein,For velocity loop proportional parameter,For speed ring integral parameter, e_nIt is the rotation speed of permagnetic synchronous motor The given n of degree^*Difference with the rotating speed n of its reality.

(7) give according to the torque current of permagnetic synchronous motorExciting current givesActual torque electric current i_qWith encourage Magnetoelectricity stream i_d, calculate d shaft voltage u_dWith q shaft voltage u_q.Owing to current control mode is i_d=0 control mode, exciting current is given FixedIt is the 0 actual exciting current i obtained with detection_dDifference through PI obtain to motor apply d shaft voltage u_d, formula is such as Under:

$u_d=K_P^{\mathrm{id}}{e}_{\mathrm{id}}+K_I^{\mathrm{id}}{\∫e}_{\mathrm{id}}\mathrm{dt}$

$e_{\mathrm{id}}=i_d^{*}-i_d=-i_d$

Wherein,For exciting current ring scale parameter,For exciting current ring integral parameter；Torque current set-point With real electrical machinery torque current i_qDifference through PI obtain to motor apply q shaft voltage u_q, formula is as follows:

$u_q=K_P^{\mathrm{iq}}{e}_{\mathrm{iq}}+K_I^{\mathrm{iq}}{\∫e}_{\mathrm{iq}}\mathrm{dt}$

$e_{\mathrm{iq}}=i_q^{*}-i_q$

Wherein,For torque current ring scale parameter,For torque current ring integral parameter.

(8) according to d shaft voltage u_dWith q shaft voltage u_q, utilize Park inverse transformation to calculate the u under α β coordinate system_αAnd u_β, calculate Formula is as follows:

(9)u_αAnd u_βGenerated the control signal of three-phase inverter by SVPWM (space vector pulse width modulation) technology, pass through Inverter applies three-phase voltage V to permagnetic synchronous motor_a、V_b、V_c, permagnetic synchronous motor output torque T, thus keep electronic solely The posture balancing of wheel car.

The foregoing describe the ultimate principle of the present invention, principal character, and unrestricted technical scheme described in the invention, one Cut without departing from spirit and the technical scheme of scope and improvement thereof, all should contain in the middle of scope of the presently claimed invention.

Claims (4)

1. the control method of a Self-balance manned electric unicycle, it is characterised in that the method comprises the steps:

(1) gather the accelerometer being placed on electric unicycle and the data of gyroscope, obtain adding of electric unicycle xyz tri-axle Velocity amplitude and magnitude of angular velocity；Gather the Hall element signal on permagnetic synchronous motor and threephase stator electric current；

(2) accekeration and the magnitude of angular velocity of electric unicycle xyz tri-axle are carried out data fusion by Kalman filtering algorithm And filter noise signal, obtain tilt angle theta and the inclination angle speed omega of electric unicycle；

(3) Hall element signal is calculated actual speed n and the rotor position angle of permagnetic synchronous motor

(4) threephase stator electric current is carried out successively Clarke and Park conversion, obtains the actual torque electric current i of permagnetic synchronous motor_q With exciting current i_d；

(5) according to tilt angle theta and the inclination angle speed omega of electric unicycle, calculate the velocity of rotation of permagnetic synchronous motor to Determine n^*；

(6) n is given according to the velocity of rotation of permagnetic synchronous motor^*And actual speed n, calculate torque current and give

(7) give according to the torque current of permagnetic synchronous motorExciting current givesActual torque electric current i_qWith excitation electricity Stream i_d, calculate the d shaft voltage u applied to permagnetic synchronous motor_dWith q shaft voltage u_q, described exciting current givesIt is 0；

(8) according to d shaft voltage u_dWith q shaft voltage u_q, utilize Park inverse transformation to calculate the u under α β coordinate system_αAnd u_β；

(9)u_αAnd u_βGenerated the control signal of three-phase inverter by SVPWM technology, execute to permagnetic synchronous motor through inverter Add three-phase voltage, permagnetic synchronous motor output torque T, thus keep the posture balancing of electric unicycle.

The control method of Self-balance manned electric unicycle the most according to claim 1, it is characterised in that: described step (5) particularly as follows: use NONLINEAR PD algorithm to determine that the velocity of rotation of permagnetic synchronous motor gives n^*, formula is as follows:

n^*=K_Pθ+K_Dω

Wherein, K_PFor non-linear ratio's parameter, K_DFor non-linear differential parameter, K_P, K_DValue along with electric unicycle inclination angle Spend the increase of θ and increase.

The control method of Self-balance manned electric unicycle the most according to claim 1, it is characterised in that: described step (6) particularly as follows: use linear PI algorithm to determine, torque current givesFormula is as follows:

$i_q^{*}=K_P^n{e}_n+K_I^n\∫e_{n}dt$

e_n=n^*-n

Wherein,For velocity loop proportional parameter,For speed ring integral parameter, e_nBe permagnetic synchronous motor velocity of rotation to Determine n^*Difference with the rotating speed n of its reality.

The control method of Self-balance manned electric unicycle the most according to claim 1, it is characterised in that: described step (7) particularly as follows: use linear PI algorithm to determine u_q, formula is as follows:

$u_q=K_P^{iq}{e}_{iq}+K_I^{iq}\∫e_{iq}dt$

$e_{iq}=i_q^{*}-i_q$

Wherein,For torque current ring scale parameter,For torque current ring integral parameter, e_iqIt is turning of permagnetic synchronous motor Square given value of currentWith its actual torque current i_qDifference；Similarly, linear PI algorithm is used to determine u_d, formula is as follows:

$u_d=K_P^{id}{e}_{id}+K_I^{id}\∫e_{id}dt$

$e_{id}=i_d^{*}-i_d=-i_d$

Wherein,For exciting current ring scale parameter,For exciting current ring integral parameter, e_idIt is encouraging of permagnetic synchronous motor Magnetic given value of currentWith its actual exciting current i_dDifference,It is 0.