CN105425802B - 一种两轮智能平衡车及其控制方法 - Google Patents
一种两轮智能平衡车及其控制方法 Download PDFInfo
- Publication number
- CN105425802B CN105425802B CN201510920258.8A CN201510920258A CN105425802B CN 105425802 B CN105425802 B CN 105425802B CN 201510920258 A CN201510920258 A CN 201510920258A CN 105425802 B CN105425802 B CN 105425802B
- Authority
- CN
- China
- Prior art keywords
- balance car
- control
- motor
- timer interrupt
- interrupt routine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004804 winding Methods 0.000 claims abstract description 11
- 230000004907 flux Effects 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 13
- 230000003993 interaction Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 238000005303 weighing Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510920258.8A CN105425802B (zh) | 2015-12-10 | 2015-12-10 | 一种两轮智能平衡车及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510920258.8A CN105425802B (zh) | 2015-12-10 | 2015-12-10 | 一种两轮智能平衡车及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105425802A CN105425802A (zh) | 2016-03-23 |
CN105425802B true CN105425802B (zh) | 2018-04-06 |
Family
ID=55504071
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510920258.8A Active CN105425802B (zh) | 2015-12-10 | 2015-12-10 | 一种两轮智能平衡车及其控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105425802B (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105955256B (zh) * | 2016-04-28 | 2019-02-26 | 石家庄求实通信设备有限公司 | 一种侦查机器人及其控制系统 |
CN105892377B (zh) * | 2016-06-17 | 2019-03-15 | 深圳市汲众科技开发有限公司 | 一种平衡车的控制方法及控制系统 |
CN106125595B (zh) * | 2016-06-22 | 2019-03-29 | 北京小米移动软件有限公司 | 控制终端应用的方法及装置 |
CN107562063A (zh) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | 一种自平衡机器人姿态控制方法及系统 |
JP6436138B2 (ja) | 2016-08-23 | 2018-12-12 | トヨタ自動車株式会社 | 倒立振子型移動体、および足関節トルク推定方法 |
CN106406326A (zh) * | 2016-09-30 | 2017-02-15 | 张家港长安大学汽车工程研究院 | 自平衡智能车及其控制方法 |
JP6524991B2 (ja) | 2016-12-09 | 2019-06-05 | トヨタ自動車株式会社 | 訓練システム、および足関節トルク推定方法 |
CN106933228A (zh) * | 2017-03-31 | 2017-07-07 | 成都信息工程大学 | 一种自平衡车避障方法 |
CN107344587A (zh) * | 2017-07-27 | 2017-11-14 | 南京信息工程大学 | 一种基于pid控制器的自平衡车避障系统 |
CN107656528A (zh) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | 一种基于stm32的两轮无线遥控智能小车 |
CN107885215A (zh) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | 一种两轮无线遥控智能小车 |
CN109067264B (zh) * | 2018-09-17 | 2020-07-28 | 长安大学 | 一种平衡车系统及其控制方法 |
CN112061296B (zh) * | 2020-08-07 | 2022-07-12 | 浙江阿尔郎科技有限公司 | 一种平衡车控制方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1614869A (zh) * | 2004-11-26 | 2005-05-11 | 南京航空航天大学 | 无刷直流电机的基波法无位置传感器直接转矩控制系统 |
CN1952996A (zh) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | 两轮遥控小车倒立摆及其平衡控制方法 |
CN201610202U (zh) * | 2009-10-21 | 2010-10-20 | 吕子民 | 一种两轮自平衡电动车 |
CN104512502A (zh) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | 用重心控制方向的无把手双轮自平衡电动车及其控制方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1697308A (zh) * | 2004-05-13 | 2005-11-16 | 卢骥 | 异步电机变频调速用的定子磁链闭环控制方法 |
CN100433537C (zh) * | 2006-03-08 | 2008-11-12 | 江苏大学 | 无轴承交流异步电机神经网络逆解耦控制器的控制方法 |
JP5644821B2 (ja) * | 2012-08-29 | 2014-12-24 | トヨタ自動車株式会社 | 倒立二輪車及びその制御方法 |
EP2913265B1 (en) * | 2014-02-27 | 2019-07-17 | Goodrich Actuation Systems SAS | Stability and control augmentation system |
-
2015
- 2015-12-10 CN CN201510920258.8A patent/CN105425802B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1614869A (zh) * | 2004-11-26 | 2005-05-11 | 南京航空航天大学 | 无刷直流电机的基波法无位置传感器直接转矩控制系统 |
CN1952996A (zh) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | 两轮遥控小车倒立摆及其平衡控制方法 |
CN201610202U (zh) * | 2009-10-21 | 2010-10-20 | 吕子民 | 一种两轮自平衡电动车 |
CN104512502A (zh) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | 用重心控制方向的无把手双轮自平衡电动车及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN105425802A (zh) | 2016-03-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105425802B (zh) | 一种两轮智能平衡车及其控制方法 | |
CN109797691B (zh) | 一种无人清扫车及其行车方法 | |
CN106325276B (zh) | 机器人在斜坡平面上直线行驶的判定方法及控制方法 | |
CN205989678U (zh) | 一种无人驾驶的清扫车 | |
CN112996379B (zh) | 骑乘式割草机及其控制方法 | |
CN203063940U (zh) | 一种无人驾驶汽车装置 | |
CN106185151A (zh) | 一种智能仓储系统 | |
CN109349834A (zh) | 一种基于arm的声控调节高度智能桌椅的装置及其调节智能桌椅高度的方法 | |
CN105490594B (zh) | 双无刷低压直流电机驱动控制系统及方法 | |
CN101239466A (zh) | 一种微型迷宫机器人 | |
CN210031639U (zh) | 无人清扫车 | |
CN106240705B (zh) | 一种基于灰色神经网络预测算法的前后两轮自平衡小车 | |
CN107253203A (zh) | 多模式智能玩具搜集机器人 | |
CN205327297U (zh) | 一种两轮智能平衡车 | |
CN105329399A (zh) | 一种滑板车的控制系统及其控制方法 | |
CN106026819B (zh) | 智能汽车eps用交流电机抗干扰智能控制器的构造方法 | |
CN106774318A (zh) | 多智能体交互式环境感知与路径规划运动系统 | |
CN105811848B (zh) | 一种开关磁阻电机变增益pi控制方法 | |
CN109227546A (zh) | 一种基于p2p的可远程监控的智能家庭机器人系统 | |
CN103895770A (zh) | 一种前后左右自平衡电动独轮车 | |
CN204395400U (zh) | 体感滑板 | |
CN206664791U (zh) | 一种纵向两轮自平衡机器人及控制系统 | |
CN110181540A (zh) | 全方位移动机器人 | |
CN104914871A (zh) | 倒立摆系统的动态平衡控制方法及智能平衡车控制系统 | |
CN106904233B (zh) | 一种双轮机器人提起检测方法及装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Yan Maode Inventor after: Niu Fanhong Inventor after: Zhang Jinghui Inventor after: Yang Qiaohui Inventor after: Zhang Yuanjing Inventor after: Lin Hai Inventor after: Li Xiaohui Inventor after: Liu Yiheng Inventor after: Li Long Inventor after: Ma Jiale Inventor after: Mao Yiyou Inventor after: Liu Han Inventor after: Liu Tong Inventor before: Lin Hai Inventor before: Zhang Jinghui Inventor before: Yang Qiaohui Inventor before: Zhang Yuanjing Inventor before: Li Xiaohui Inventor before: Liu Yiheng Inventor before: Li Long Inventor before: Ma Jiale Inventor before: Mao Yiyou Inventor before: Liu Han Inventor before: Liu Tong Inventor before: Niu Fanhong |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210113 Address after: 1-1-505-1, Xindu building, southwest of the intersection of Weijin road and wandezhuang street, Nankai District, Tianjin Patentee after: HUIJIAWANG (TIANJIN) TECHNOLOGY Co.,Ltd. Address before: 710064 Shaanxi province Xi'an Beilin District South Second Ring Road No. 33 in the middle Patentee before: CHANG'AN University |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210910 Address after: 300392 R & D center 301, Xingqi No. 1 Innovation workshop, No. 3, Haitai development road 6, Huayuan Industrial Zone (outside the ring), Binhai high tech Zone, Binhai New Area, Tianjin Patentee after: TIANJIN CHINESE-ACADEMY-OF-SCIENCES INSTITUTE OF ADVANCED TECHNOLOGY Address before: 1-1-505-1, Xindu building, southwest of the intersection of Weijin road and wandezhuang street, Nankai District, Tianjin Patentee before: HUIJIAWANG (TIANJIN) TECHNOLOGY Co.,Ltd. |
|
TR01 | Transfer of patent right |