CN104999925A - Control method and device of balance car - Google Patents
Control method and device of balance car Download PDFInfo
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- CN104999925A CN104999925A CN201510438264.XA CN201510438264A CN104999925A CN 104999925 A CN104999925 A CN 104999925A CN 201510438264 A CN201510438264 A CN 201510438264A CN 104999925 A CN104999925 A CN 104999925A
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- electric machine
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- cireular frequency
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Abstract
The invention discloses a control method and device of a balance car. The control method of the balance car comprises the following steps: obtaining an acceleration through an acceleration meter; obtaining an angular velocity through a gyroscope; determining the tilting angle of a target according to the obtained acceleration and the obtained angular velocity; determining the controlled quantity of a motor according to the tilting angle of the target; adjusting the rotation of the motor according to the controlled quantity of the motor. Compared with the method in the prior art for determining a tilting angle according to an angular velocity obtained through a gyroscope, the embodiment adopted by the method disclosed by the invention has the characteristic that the tilting angle of the target is determined by parameters obtained by the acceleration meter and the gyroscope, so that the accuracy of the tilting angle of the target can be improved; therefore, the balancing effect of the balance car can be improved, and the user experience is improved.
Description
Technical field
The embodiment of the present invention relates to balance truck technology, particularly relates to a kind of control method and device of balance truck.
Background technology
Current balance truck as a kind of new walking-replacing tool be familiar with by increasing customer.Just as its name, balancing into is a kind of battery-driven car of self-balancing, and subscriber station keeps balance by adjustment body posture on balance truck.
The equilibrium principle of balance truck is mainly based upon one and is called as in the groundwork of " dynamic stability " (DynamicStabilization), when realizing, carry out amplification and integration by the cireular frequency obtained built-in gyroscope (StateGyroscopes), obtain body inclination angle; Determine the posture state of vehicle body according to this angle of inclination, and then generate the adjustment signal of drive motor (also known as motor), according to adjustment signal control drive motor, to realize the effect of self-balancing.
But because gyroscope and amplifying circuit thereof exist temperature drift, and error will be made to amplify through integral operation, the posture state resulting through gyroscope identification is inaccurate, and then makes balance truck counterbalance effect unstable.
Summary of the invention
The invention provides a kind of control method and device of balance truck, to realize the recognition effect improving posture state, and then improve the counterbalance effect of balance truck.
First aspect, embodiments provides a kind of control method of balance truck, comprising:
Acceleration/accel is obtained by accelerometer;
Cireular frequency is obtained by gyroscope;
According to described acceleration/accel and cireular frequency determination target tilt angle;
According to described target tilt angle determination electric machine control amount;
According to described electric machine control amount adjustment electric machine rotation.
Second aspect, the embodiment of the present invention additionally provides a kind of control setup of balance truck, and described control setup is arranged in described balance truck, comprising:
Acceleration obtainment unit, for obtaining acceleration/accel by accelerometer;
Cireular frequency acquiring unit, for obtaining cireular frequency by gyroscope;
Target tilt angle determining unit, for according to described acceleration/accel and cireular frequency determination target tilt angle;
Electric machine control amount determining unit, for according to described target tilt angle determination electric machine control amount;
Adjustment unit, for adjusting electric machine rotation according to described electric machine control amount.
The acceleration/accel that the embodiment of the present invention is obtained by accelerometer and the cireular frequency determination target tilt angle that gyroscope obtains.Determine compared with angle of inclination with prior art according to the cireular frequency that gyroscope obtains, the parameter that the embodiment of the present invention is obtained by accelerometer and gyroscope determines target tilt angle jointly, the accuracy of target tilt angle can be improved, and then improve the counterbalance effect of balance truck, improve Consumer's Experience.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of the control method of a balance truck in the embodiment of the present invention one;
Fig. 2 is the diagram of circuit of the control method of first balance truck in the embodiment of the present invention two;
Fig. 3 is the diagram of circuit of the control method of second balance truck in the embodiment of the present invention two;
Fig. 4 is the diagram of circuit of the control method of the 3rd balance truck in the embodiment of the present invention two;
Fig. 5 is the diagram of circuit of the control method of the 4th balance truck in the embodiment of the present invention two;
Fig. 6 is the structural representation of the control setup of first balance truck in the embodiment of the present invention three;
Fig. 7 is the structural representation of the control setup of second balance truck in the embodiment of the present invention three.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not entire infrastructure.
Embodiment one
The diagram of circuit of the control method of a kind of balance truck that Fig. 1 provides for the embodiment of the present invention one, the present embodiment is applicable to the situation that balance truck carries out self-balancing, and the method can be performed by the treater carrying out self-balancing in balance truck, specifically comprises the steps:
Step 110, obtain acceleration/accel by accelerometer.
Accelerometer can use triaxial accelerometer.Accelerometer utilizes the force of inertia of Detection job block to measure carrier acceleration/accel.This acceleration/accel is the acceleration/accel that the acceleration of motion of balance truck and acceleration due to gravity are determined jointly.
Step 120, obtain cireular frequency by gyroscope.
Gyroscope can be subject to the principle of coriolis force by the object in rotating coordinate system, utilizes piezoceramic to make vibration unit in the devices.Can oscillation frequency be changed when rotary device, thus reflect the cireular frequency that object rotates.
Step 130, according to acceleration/accel and cireular frequency determination target tilt angle.
The acceleration/accel obtained accelerometer and gyroscope respectively and cireular frequency carry out analogue to digital conversion.Merged by blending algorithm degree of will speed up and cireular frequency, obtain target tilt angle.This target tilt angle is for representing the inclination angle of balance truck vertical direction.
Step 140, according to target tilt angle determination electric machine control amount.
Angle of inclination is substituted in proportion integration differentiation (proportion, integration, differentiation, PID) controller, obtain electric machine control amount by the conversion of PID controller.
Primarily of proportional unit (P), integral unit (I) and differentiation element (D) composition, between its constrained input, there is nonlinear relationship in PID controller.Input PID controller using target tilt angle as input, the output of PID controller is electric machine control amount.
It is as follows that speed of a motor vehicle PID controls false code:
When desired speed (user setting a fixed vehicle speed) and actual vehicle speed deviation are less than 0.1m/s, or when this deviation is less than 5% of desired speed, time deviation is set to zero, otherwise, continue to change the speed of a motor vehicle, continue to compare, until deviation is zero, with the stability of this keeping system.
Two wheels of balance truck are furnished with a motor respectively, realize differential export double-motor, then can realize realizing turning on the basis keeping balance.
Motion control false code is as follows:
Method name (parameter 1, parameter 2)
SWITCH (parameter 1)
{
CASE 0: keep straight on; BREAK;
CASE 1: turn left; BREAK;
CASE 2: turn right; BREAK;
CASE3: retreat; BREAK;
}
}
Give motor setting speed by electric machine control subfunction parameter 2, and be keep straight on by the selection that arranges of parameter 1, turn left, turn right or retreat.
Step 150, according to electric machine control amount adjustment electric machine rotation.
According to motor type, electric machine control amount is changed, make change after controlling quantity can identify by motor.Such as: motor is stepping motor, then electric machine control amount is converted into impulse singla.
The embodiment of the present invention, the cireular frequency determination target tilt angle that the acceleration/accel obtained by accelerometer and gyroscope are obtained.Determine compared with angle of inclination with prior art according to the cireular frequency that gyroscope obtains, the parameter obtained by accelerometer and gyroscope determines target tilt angle jointly, the accuracy of target tilt angle can be improved, and then improve the counterbalance effect of balance truck, improve Consumer's Experience.
Embodiment two
The embodiment of the present invention additionally provides a kind of control method of balance truck, as further illustrating embodiment one, as shown in Figure 2, step 130, according to described acceleration/accel and cireular frequency determination target tilt angle, to implement by following manner:
Step 131, respectively Kalman filtering is carried out to acceleration/accel and cireular frequency.
The realization of Kalman filtering can realize according to the definition of kalman filter method in prior art.
Step 132, by inverse circular function, filtered acceleration/accel to be calculated, obtain the first angle of inclination.
As a kind of implementation, angle=atan2 (x, y, z), wherein, angle is the first angle of inclination, and x, y, z is the acceleration/accel that obtains in three directions of corresponding triaxial accelerometer respectively.
Step 133, integration is carried out to cireular frequency after filtering, obtain the second angle of inclination.
Cireular frequency is amplified, the cireular frequency after amplifying is carried out integration, obtains the second angle of inclination.
Step 134, determine target tilt angle according to the first angle of inclination and the second angle of inclination.
By related algorithm of the prior art, first angle of inclination and the second angle of inclination are merged, obtain target tilt angle.Such as by modes such as the first angle of inclination and the second angle of inclination weighted means.
The technical scheme that the present embodiment provides, can carry out filtering according to the signal exported accelerometer and gyroscope, and according to filtered data determination target tilt angle.
When the moving velocity of balance truck is zero, it remains static.Make possibly driven by motor balance truck cannot be made to move by the above-mentioned electric machine control amount calculated because itself and ground exist certain static friction force.Based on this, the embodiment of the present invention additionally provides a kind of control method of balance truck, as further illustrating embodiment one, as shown in Figure 3, step 150, according to described electric machine control amount adjustment electric machine rotation, to comprise:
If step 151 balance truck remains static, then calculate electric machine control amount and default dead band constant and.
If motor is stepping motor, then presetting dead band constant can be a fixing pulse strength, for offsetting static friction force.
Step 152, according to summed result adjustment electric machine rotation.
According to electric machine control amount and default dead band constant with adjustment electric machine rotation.
The technical scheme that the present embodiment provides, when balance truck remains static, can overcome the impact that static friction force starts balance truck, make the starting of balance truck more smooth.
When electric machine control amount is greater than electric machine control threshold value, motor overload can be made to run, cause motor damage.Based on this, the embodiment of the present invention additionally provides a kind of control method of balance truck, as further illustrating above-described embodiment, as shown in Figure 4, step 150, according to electric machine control amount adjustment electric machine rotation, comprising:
Step 150 ' if electric machine control amount is greater than electric machine control threshold value, then according to described electric machine control adjusting thresholds electric machine rotation.
Electric machine control threshold value is the difference of the maximum controlling quantity of motor and the controling parameters of current execution.Such as: motor maximum speed is 100 revolution per seconds, current rotating speed is 80 revolution per seconds, then electric machine control threshold value is 20 revolution per seconds.When electric machine control amount is greater than electric machine control threshold value, using the difference of electric machine control threshold value and electric machine control amount as new electric machine control amount, the electric machine control amount adjustment electric machine rotation using this new.Such as: current rotating speed is 20 revolution per seconds, the maximum speed of revolution of motor is 80 revolution per seconds.If electric machine control amount is 70, then differ from 60 as new electric machine control amount using the rotating speed of maximum speed of revolution and current motor.
The technical scheme that the present embodiment provides, when electric machine control amount is greater than electric machine control threshold value, using the electric machine control amount of electric machine control threshold value as this, can adjust electric machine rotation.And then avoid motor overload to operate, improve the service life of motor.
When balance truck is climbed, because road surface has certain angle, motor is adjusted according to target tilt angle, there will be the hypodynamic situation of horse.Based on this, the embodiment of the present invention additionally provides a kind of control method of balance truck, and as further illustrating above-described embodiment, as shown in Figure 5, described method also comprises:
Step 160, judge whether described balance truck is in upward slope state.
Obtain current balance truck by gravitational accelerometer and be in plane or inclined-plane.For inclined-plane situation, balance truck can be obtained according to the trend of car body and the power of motor and be in upward slope state or descending state.
If step 170 is in upward slope state, then improve the voltage of balance truck battery pack.
In order to alleviate gravity effect during upward slope, the battery pack of balance truck being used lithium cell, replaces existing lead battery.Meanwhile, in order to improve the output efficiency of motor, improve the voltage of battery pack.
The technical scheme that the present embodiment provides, after detecting that balance truck is in upward slope state, the voltage of battery pack can be adjusted, and then overcome the inhibition that in upward slope, the resistance such as gravity is advanced to balance truck, improve balance truck horsepower when ramp is up stronger, improve Consumer's Experience.
Embodiment three
Embodiments provide a kind of control setup of balance truck, described control setup is arranged in described balance truck, and shown device is used for realizing said method, as shown in Figure 6, comprising:
Acceleration obtainment unit 11, for obtaining acceleration/accel by accelerometer 2;
Cireular frequency acquiring unit 12, for obtaining cireular frequency by gyroscope 3;
Target tilt angle determining unit 13, for the cireular frequency determination target tilt angle obtained according to described acceleration/accel and the described cireular frequency acquiring unit 12 of described acceleration obtainment unit 11 acquisition;
Electric machine control amount determining unit 14, for the described target tilt angle determination electric machine control amount obtained according to described target tilt angle determining unit 13;
Adjustment unit 15, rotates for the described electric machine control amount adjustment motor 4 determined according to electric machine control amount determining unit 14.
Further, described target tilt angle determining unit 13 specifically for:
Respectively Kalman filtering is carried out to the described cireular frequency that described acceleration/accel and the described cireular frequency acquiring unit 12 of described acceleration obtainment unit 11 acquisition obtain;
By inverse circular function, filtered acceleration/accel is calculated, obtain the first angle of inclination;
Integration is carried out to cireular frequency after filtering, obtains the second angle of inclination;
Described target tilt angle is determined according to described first angle of inclination and described second angle of inclination.
Further, described adjustment unit 15 specifically for:
If described balance truck remains static, then calculate described electric machine control amount and default dead band constant and;
Rotate according to summed result adjustment motor 4.
Further, described adjustment unit 15 also for:
If electric machine control amount is greater than electric machine control threshold value, then rotate according to described electric machine control adjusting thresholds motor 4.
Further, as shown in Figure 7, described device also comprises:
Judging unit 16, for judging whether described balance truck is in upward slope state;
Voltage control unit 17, for when shown judging unit 16 obtains being in described upward slope state, improves the voltage of described balance truck battery pack 5.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.
Claims (10)
1. a control method for balance truck, is characterized in that, comprising:
Acceleration/accel is obtained by accelerometer;
Cireular frequency is obtained by gyroscope;
According to described acceleration/accel and cireular frequency determination target tilt angle;
According to described target tilt angle determination electric machine control amount;
According to described electric machine control amount adjustment electric machine rotation.
2. the control method of balance truck according to claim 1, is characterized in that, described comprises according to described acceleration/accel and cireular frequency determination target tilt angle:
Respectively Kalman filtering is carried out to described acceleration/accel and described cireular frequency;
By inverse circular function, filtered acceleration/accel is calculated, obtain the first angle of inclination;
Integration is carried out to cireular frequency after filtering, obtains the second angle of inclination;
Described target tilt angle is determined according to described first angle of inclination and described second angle of inclination.
3. the control method of balance truck according to claim 1, is characterized in that, described according to described electric machine control amount adjustment electric machine rotation, comprising:
If described balance truck remains static, then calculate described electric machine control amount and default dead band constant and;
According to summed result adjustment electric machine rotation.
4. the control method of balance truck according to any one of claim 1 to 3, is characterized in that, described according to described electric machine control amount adjustment electric machine rotation, comprising:
If electric machine control amount is greater than electric machine control threshold value, then according to described electric machine control adjusting thresholds electric machine rotation.
5. the control method of balance truck according to any one of claim 1 to 3, is characterized in that, also comprises:
Judge whether described balance truck is in upward slope state;
If be in described upward slope state, then improve the voltage of described balance truck battery pack.
6. a control setup for balance truck, described control setup is arranged in described balance truck, it is characterized in that, comprising:
Acceleration obtainment unit, for obtaining acceleration/accel by accelerometer;
Cireular frequency acquiring unit, for obtaining cireular frequency by gyroscope;
Target tilt angle determining unit, for the cireular frequency determination target tilt angle that the described acceleration/accel that obtains according to described acceleration obtainment unit and described cireular frequency acquiring unit obtain;
Electric machine control amount determining unit, for the described target tilt angle determination electric machine control amount obtained according to described target tilt angle determining unit;
Adjustment unit, for the described electric machine control amount adjustment electric machine rotation determined according to electric machine control amount determining unit.
7. the control setup of balance truck according to claim 6, is characterized in that, described target tilt angle determining unit specifically for:
The described cireular frequency that the described acceleration/accel obtained described acceleration obtainment unit respectively and described cireular frequency acquiring unit obtain carries out Kalman filtering;
By inverse circular function, filtered acceleration/accel is calculated, obtain the first angle of inclination;
Integration is carried out to cireular frequency after filtering, obtains the second angle of inclination;
Described target tilt angle is determined according to described first angle of inclination and described second angle of inclination.
8. the control setup of balance truck according to claim 6, is characterized in that, described adjustment unit specifically for:
If described balance truck remains static, then calculate described electric machine control amount and default dead band constant and;
According to summed result adjustment electric machine rotation.
9. the control setup of the balance truck according to any one of claim 6 to 8, is characterized in that, described adjustment unit also for:
If electric machine control amount is greater than electric machine control threshold value, then according to described electric machine control adjusting thresholds electric machine rotation.
10. the control setup of the balance truck according to any one of claim 6 to 8, is characterized in that, described device also comprises:
Judging unit, for judging whether described balance truck is in upward slope state;
Voltage control unit, for when being in described upward slope state, improves the voltage of described balance truck battery pack.
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| CN107281738A (en) * | 2017-07-27 | 2017-10-24 | 纳恩博（北京）科技有限公司 | Wheel skidding device |
| CN107685325A (en) * | 2016-08-10 | 2018-02-13 | 北京小米移动软件有限公司 | Self-balance robot and its speed control unit and method for control speed |
| CN107776436A (en) * | 2016-08-25 | 2018-03-09 | 北京小米移动软件有限公司 | The control method and device of double-wheel self-balancing equipment |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN112154388A (en) * | 2019-08-06 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Control method, control apparatus, removable platform, and storage medium |
| CN113031612A (en) * | 2021-03-10 | 2021-06-25 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
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| CN106980326A (en) * | 2016-01-15 | 2017-07-25 | 深圳佑驾创新科技有限公司 | Camera angle regulation method and system based on camera calibration |
| CN107685325A (en) * | 2016-08-10 | 2018-02-13 | 北京小米移动软件有限公司 | Self-balance robot and its speed control unit and method for control speed |
| CN107685325B (en) * | 2016-08-10 | 2020-04-03 | 北京小米移动软件有限公司 | Self-balancing robot and speed control device and speed control method thereof |
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| CN112154388A (en) * | 2019-08-06 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Control method, control apparatus, removable platform, and storage medium |
| CN113031612A (en) * | 2021-03-10 | 2021-06-25 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
| CN113031612B (en) * | 2021-03-10 | 2024-04-12 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
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