CN105680736A - Yaw angle-based double-motor speed synchronization and balance control method - Google Patents
Yaw angle-based double-motor speed synchronization and balance control method Download PDFInfo
- Publication number
- CN105680736A CN105680736A CN201610141538.3A CN201610141538A CN105680736A CN 105680736 A CN105680736 A CN 105680736A CN 201610141538 A CN201610141538 A CN 201610141538A CN 105680736 A CN105680736 A CN 105680736A
- Authority
- CN
- China
- Prior art keywords
- motor
- comparator
- angle
- yaw angle
- value
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a yaw angle-based double-motor speed synchronization and balance control method applied to a double-motor control system comprising a microcontroller, two motors, a motor speed regulator, a attitude sensor and a PID controller. After the system is electrified, the attitude sensor samples angular velocity signals and acceleration signals of the motors and outputs two attitude angle signals of a pitch angle and a yaw angle to the microcontroller; the microcontroller carries out per-unit processing on the pitch angle and the yaw angle, outputs a pitch angle per-unit value to the PID controller and outputs a deviation value obtained by comparing the previous yaw angle and the latter yaw angle to the PID controller; and the pitch angle per-unit value and the deviation value are output to the motor speed regulator to be converted into a PWM signal through the operation of the PID controller, so that speed synchronization and balance control are carried out on the two motors. The speed synchronization control over the double motors is simple and efficient; use of an electronic compass can be avoided; and the cost is low.
Description
Technical field
What the present invention relates to two drive motor speed sync in a kind of two wheeled electric balance car realizes method, specifically a kind of bi-motor speed sync based on attitude transducer yaw angle and balance method, belongs to electrodynamic balance car and controls technical field.
Background technology
Two wheeled electric balance car is a kind of short distance traffic instrument emerging at present, it is mainly based upon the vehicle body attitude change detected by vehicle body attitude transducer (including gyroscope and acceleration transducer etc.), controls two drive motors by control system and realizes the two-wheeled speed sync in body movement and car body balance. Generally, so that the course that two wheeled electric balance car is when motion does not deflect, the drive motor keeping two-wheeled is needed to synchronize in speed, existing method for control speed is the drive motor on the low sidecar wheel of speed to adopt suitable pid parameter carry out increasing output adjust, but the generation property already of course offset and the problem of measuring the inaccurate control system stability in the large caused of motor speed in low velocity situation when this control method cannot overcome bi-motor speed to synchronize.
Attitude transducer comprises the motion sensors such as gyroscope, accelerometer and electronic compass, obtain through data such as 3 d pose and the orientation of temperature-compensating by embedded low-power consumption arm processor, utilize the three-dimensional algorithm based on quaternary number and special data integration technology, export the zero shift 3 d pose bearing data represented with quaternary number or Eulerian angles or spin matrix in real time. Attitude transducer is by configuring digital moving processing unit (DMP) and may finally export the Eulerian angles including the angle of pitch (pitch), yaw angle (yaw) and roll angle (roll) through quaternary number conversion, Eulerian angles can describe the spatial attitude of object intuitively as the attitude angle that attitude transducer exports, existing electrodynamic balance car is used pitch angle therein, as around pitch angle be canonical x-axis point under, in order to make pitch angle be zero, then rotate to outbound course (right-hand rule).
Summary of the invention
It is an object of the invention to provide a kind of bi-motor speed sync based on yaw angle and balance control method, the Eulerian angles adopting attitude transducer output in existing speed synchronous control system control two motors carry out speed sync and balance control in conjunction with PID, there is the simple efficient feature of control, decrease the use of electronic compass (i.e. magnetometer) simultaneously, reduce cost.
To achieve these goals, the technical solution used in the present invention is, a kind of bi-motor speed sync based on yaw angle and balance control method, use a kind of Double Motor Control System, this system includes microcontroller, two motors, machine governor, attitude transducer and PID controller, and described attitude transducer is integrated with gyroscope and accelerometer, upon power-up of the system, described attitude transducer high-speed a/d sampling current demand signal and after quaternary number conversion in real time output pitch angle and two attitude angle signals of yaw angle to microcontroller, pitch angle and yaw angle are carried out standardization process by microcontroller, and by pitch angle perunit value output to PID controller, microcontroller exports a deviation value θ after former and later two yaw angle perunit values are compared, and will deviate from value θ output to PID controller, pitch angle perunit value and deviation value θ are by PID controller computing, output converts pwm signal to machine governor, and then two motors are carried out speed sync and balance control.
Wherein, the yaw angle that first time is received by described microcontroller result after standardization processes is recited as A, by second time and the yaw angle that receives later, the result after standardization processes compares with A and obtains deviation value θ, and this deviation value θ and the indivisible ε of angle set in advance is compared, when gained deviation value θ is more than this angle indivisible ε, microcontroller carries current deviation value θ to PID controller, and when gained deviation value θ is not more than the indivisible ε of this angle, microcontroller carries value of zero to PID controller on the one hand, on the other hand by current yaw angle assignment in A.
Described PID controller includes a PID module, 2nd PID module and the 3rd PID module, two motors are designated as respectively A motor and B motor, input in a PID module, outfan is respectively equipped with the first comparator and the second comparator, input in the 2nd PID module, outfan is respectively equipped with the 3rd comparator and the 4th comparator, input in the 3rd PID module is provided with the 5th comparator, described first, three, the input of five comparators connects the outfan of microcontroller, the outfan of described second comparator connects the machine governor (being designated as A machine governor) of A motor, the outfan of described 4th comparator connects the machine governor (being designated as B machine governor) of B motor, the outfan of described A machine governor connects the input of the first comparator, the outfan of described B machine governor connects the input of the 3rd comparator, the outfan of described 3rd PID module connects second, four, the input of five comparators.
Therefore, above-mentioned control method specifically includes following steps:
After a, system electrification, described attitude transducer gathers the current demand signal of A motor and B motor and exports pitch angle and two attitude angle signals of yaw angle after quaternary number conversion to microcontroller;
Pitch angle perunit value is exported to first and third comparator after pitch angle and yaw angle carry out standardization process by b, described microcontroller, and yaw angle judging, the deviation value θ comparing gained or value of zero export to the 5th comparator;
Gained pitch angu-lar deviation is sent to a PID module and carries out corresponding PID conversion one numerical value of output to the second comparator by c, described first comparator after pitch angle perunit value is compared process with the A motor speed value fed back from A machine governor; Gained pitch angu-lar deviation is sent to the 2nd PID module and carries out corresponding PID conversion one numerical value of output to the 4th comparator by described 3rd comparator after pitch angle perunit value is compared process with the B motor speed value fed back from B machine governor;
D, described 5th comparator will deviate from being sent to by acquired results after value θ or value of zero compare process with the signal of telecommunication returned from the 3rd PID module feedback the 3rd PID module and carry out corresponding PID conversion one signal of telecommunication of output to second, four comparators;
E, described second comparator convert comparative result output to pwm signal to A machine governor and send A motor to, described 4th comparator converts comparative result output to pwm signal to B machine governor and sends B motor to, and then the speed of A motor and B motor is synchronized and balances control.
As a modification of the present invention, the indivisible ε of described differential seat angle is set to 0.005 °.
Relative to prior art, advantages of the present invention is as follows, this method is the pitch angle exported in existing Double Motor Control System by attitude transducer and two motors are carried out speed sync by two attitude angle of yaw angle and heading effect is corrected and controlled, its control accuracy is high, algorithm is simply efficient, it is easily achieved and cost is low, attitude transducer is utilized by high benefit, avoid the adjoint sex chromosome mosaicism of the relevant speed synchronization that motor speed under low-speed situations tests the speed inaccurate caused, decrease the use of electronic compass simultaneously, not only reduce cost, and it also avoid the electromagnetic interference introduced because of the use of electronic compass to circuit.
Accompanying drawing explanation
Fig. 1 is the flow chart in the present invention, yaw angle yaw processed.
Fig. 2 is the control flow chart of the present invention.
Detailed description of the invention
In order to deepen the understanding of the present invention and understanding, below in conjunction with accompanying drawing, the invention will be further described and introduces.
A kind of bi-motor speed sync based on yaw angle and balance control method, the method uses the bi-motor speed synchronous control system of two wheeled electric balance car, and this two wheeled electric balance car includes two driving wheels, provides the drive motor of driving force, the control system with microcontroller, PID controller and machine governor and attitude transducer for driving wheel. described attitude transducer is integrated with three-axis gyroscope and three axis accelerometer, after two wheeled electric balance car powers on, attitude transducer gathers the rate signal of driving wheel and exports pitch angle and two attitude angle signals of yaw angle in real time to microcontroller through quaternary number conversion, pitch angle and yaw angle are carried out standardization process by microcontroller, and by pitch angle perunit value output to PID controller, microcontroller exports a deviation value θ after former and later two yaw angle perunit values are compared, and will deviate from value θ output to PID controller, pitch angle perunit value and deviation value θ are by PID controller computing, output converts pwm signal to machine governor, and then two motors are carried out speed sync and balance control.
As it is shown in figure 1, the yaw angle that receives of first time result after standardization processes is recited as A by described microcontroller, by second time and the yaw angle that receives later, the result after standardization processes compares with A and obtains deviation value θ.And this deviation value θ is compared with indivisible ε=0.005 ° of angle set in advance, when gained deviation value θ is more than this angle indivisible ε, microcontroller carries current deviation value θ to PID controller, and when gained deviation value θ is not more than the indivisible ε of this angle, microcontroller carries value of zero to PID controller on the one hand, on the other hand by current yaw angle assignment in A. When two wheeled electric balance car needs to turn to, by changing yaw angle when powering on; Magnetometer is lacked due in the attitude transducer that adopts, there is drift in two wheeled electric balance car yaw angle in motor process, namely yaw angle can continue to increase or reduce over time, therefore, preset an indivisible ε of differential seat angle in the controls, and when as deviation value θ ε indivisible less than this differential seat angle, then definition deviation value θ is 0 degree; Meanwhile by the A yaw angle being defined into after drift with property.
As in figure 2 it is shown, described PID controller includes a PID module PID1, the 2nd PID module PID2 and the three PID module PID3, wherein, first and second PID module is that speed regulates PID module, and the 3rd PID module is that course regulates PID module. two drive motors are designated as respectively A motor and B motor, input in a PID module, outfan is respectively equipped with the first comparator C1 and the second comparator C2, input in the 2nd PID module, outfan is respectively equipped with the 3rd comparator C3 and the four comparator C4, input in the 3rd PID module is provided with the 5th comparator C5, described first, three, the input of five comparators connects the outfan of microcontroller, the outfan of described second comparator connects A machine governor, the outfan of described 4th comparator connects B machine governor, the outfan of described A machine governor connects the input of the first comparator, the outfan of described B machine governor connects the input of the 3rd comparator, the outfan of described 3rd PID module connects second, four, the input of five comparators.
Therefore, therefore, above-mentioned control method specifically can comprise the following steps that
After a, system electrification, described attitude transducer gathers current demand signal and exports pitch angle and two attitude angle signals of yaw angle after quaternary number conversion to microcontroller, and wherein yaw is then defined as initial A;
Pitch angle perunit value is exported to first and third comparator after pitch angle and yaw angle carry out standardization process by b, described microcontroller, and yaw angle judging, the deviation value θ comparing gained or value of zero export to the 5th comparator;
Gained pitch angu-lar deviation is sent to a PID module and carries out corresponding PID conversion one numerical value of output to the second comparator by c, described first comparator after pitch angle perunit value is compared process with the A motor velocity signal fed back from A machine governor; Gained pitch angu-lar deviation is sent to the 2nd PID module and carries out corresponding PID conversion one numerical value of output to the 4th comparator by described 3rd comparator after pitch angle perunit value is compared process with the B motor velocity signal fed back from B machine governor;
D, described 5th comparator will deviate from being sent to by acquired results after value θ or value of zero compare process with the signal of telecommunication returned from the 3rd PID module feedback the 3rd PID module and carry out corresponding PID conversion one signal of telecommunication of output to second, four comparators;
E, described second comparator convert comparative result output to pwm signal to A machine governor and send A motor to, described 4th comparator converts comparative result output to pwm signal to B machine governor and sends B motor to, and then the speed of A motor and B motor synchronized and balances control, guarantee the speed sync of two driving wheels, be further ensured that the balance of the left and right sidesing driving wheel of electrodynamic balance car.
It should be noted that above-mentioned detailed description of the invention, be not used for limiting protection scope of the present invention, equivalents done on the basis of technique scheme or replacement each fall within the scope that the claims in the present invention are protected. In the claims, any reference marks that should not will be located between bracket is configured to limitations on claims. Word " comprises " and does not exclude the presence of the element or step not arranged in the claims. Word first, second and third use do not indicate that any order, can be title by these word explanations.
Claims (5)
1. the bi-motor speed sync based on yaw angle and balance control method, it is characterized in that: the method uses a kind of Double Motor Control System, this system includes microcontroller, two motors, machine governor, attitude transducer and PID controller, and described attitude transducer is integrated with gyroscope and accelerometer, upon power-up of the system, the angular velocity signal of described attitude transducer high-speed a/d sample motor and acceleration signal and after quaternary number conversion is integrated in real time output pitch angle and two attitude angle signals of yaw angle to microcontroller, pitch angle and yaw angle are carried out standardization process by microcontroller, and by pitch angle perunit value output to PID controller, microcontroller exports a deviation value θ after former and later two yaw angle perunit values are compared, and will deviate from value θ output to PID controller, pitch angle perunit value and deviation value θ are by PID controller computing, output converts pwm signal to machine governor, and then two motors are carried out speed sync and balance control.
2. a kind of bi-motor speed sync based on yaw angle and balance control method as claimed in claim 1, it is characterized in that, the yaw angle that first time is received by described microcontroller result after standardization processes is recited as A, by second time and the yaw angle that receives later, the result after standardization processes compares with A and obtains deviation value θ, and this deviation value θ and the indivisible ε of angle set in advance is compared, when gained deviation value θ is more than this angle indivisible ε, microcontroller carries current deviation value θ to PID controller, and when gained deviation value θ is not more than the indivisible ε of this angle, microcontroller carries value of zero to PID controller on the one hand, on the other hand by current yaw angle assignment in A.
3. a kind of bi-motor speed sync based on yaw angle and balance control method as claimed in claim 2, it is characterized in that, described PID controller includes a PID module, 2nd PID module and the 3rd PID module, two motors are designated as respectively A motor and B motor, input in a PID module, outfan is respectively equipped with the first comparator and the second comparator, input in the 2nd PID module, outfan is respectively equipped with the 3rd comparator and the 4th comparator, input in the 3rd PID module is provided with the 5th comparator, described first, three, the input of five comparators connects the outfan of microcontroller, the outfan of described second comparator connects the machine governor of A motor, the outfan of described 4th comparator connects the machine governor of B motor, the outfan of the machine governor of A motor connects the input of the first comparator, the outfan of the machine governor of B motor connects the input of the 3rd comparator, the outfan of described 3rd PID module connects second, four, the input of five comparators.
4. a kind of bi-motor speed sync based on yaw angle and balance control method as claimed in claim 3, it is characterised in that this control method specifically includes following steps:
After a, system electrification, described attitude transducer gathers the output speed signal of A motor and B motor and exports pitch angle and two attitude angle signals of yaw angle after quaternary number conversion to microcontroller;
Pitch angle perunit value is exported to first and third comparator after pitch angle and yaw angle carry out standardization process by b, described microcontroller, and yaw angle judging, the deviation value θ comparing gained or value of zero export to the 5th comparator;
Gained pitch angu-lar deviation is sent to a PID module and carries out corresponding PID conversion one numerical value of output to the second comparator by c, described first comparator after pitch angle perunit value is compared process with the A motor velocity signal fed back from A machine governor; Gained pitch angu-lar deviation is sent to the 2nd PID module and carries out corresponding PID conversion one numerical value of output to the 4th comparator by described 3rd comparator after pitch angle perunit value is compared process with the B motor velocity signal fed back from B machine governor;
D, described 5th comparator will deviate from being sent to by acquired results after value θ or value of zero compare process with the signal of telecommunication returned from the 3rd PID module feedback the 3rd PID module and carry out corresponding PID conversion one signal of telecommunication of output to second, four comparators;
E, described second comparator convert comparative result output to pwm signal to A machine governor and send A motor to, described 4th comparator converts comparative result output to pwm signal to B machine governor and sends B motor to, and then the speed of A motor and B motor is synchronized and balances control.
5. a kind of bi-motor speed sync based on yaw angle and balance control method as claimed in claim 1 or 2, it is characterised in that the indivisible ε of described differential seat angle is set to 0.005 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141538.3A CN105680736B (en) | 2016-03-11 | 2016-03-11 | A kind of bi-motor speed sync and balance control method based on yaw angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141538.3A CN105680736B (en) | 2016-03-11 | 2016-03-11 | A kind of bi-motor speed sync and balance control method based on yaw angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105680736A true CN105680736A (en) | 2016-06-15 |
| CN105680736B CN105680736B (en) | 2018-04-13 |
Family
ID=56307596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610141538.3A Active CN105680736B (en) | 2016-03-11 | 2016-03-11 | A kind of bi-motor speed sync and balance control method based on yaw angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105680736B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106301093A (en) * | 2016-08-31 | 2017-01-04 | 北京首钢自动化信息技术有限公司 | The anti-torsion control method of elevating mechanism and device |
| 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 |
| CN108501768A (en) * | 2018-03-29 | 2018-09-07 | 南京航空航天大学 | A kind of two-wheeled method for control speed based on Z axis gyroscope and difference in wheel |
| CN112511043A (en) * | 2020-11-20 | 2021-03-16 | 北京精密机电控制设备研究所 | Synchronous control system and method based on repeated motion multi-axis control |
| CN112841964A (en) * | 2020-12-30 | 2021-05-28 | 佛山市谱德电子科技有限公司 | Control method and system based on electric rocking chair |
| CN114337384A (en) * | 2021-12-30 | 2022-04-12 | 西安翔迅科技有限责任公司 | Double-propeller rotating speed and phase synchronous control method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040007399A1 (en) * | 2000-10-13 | 2004-01-15 | Heinzmann John David | Method and device for battery load sharing |
| US6965206B2 (en) * | 2000-10-13 | 2005-11-15 | Deka Products Limited Partnership | Method and system for fail-safe motor operation |
| JP2007062682A (en) * | 2005-09-02 | 2007-03-15 | Toyota Motor Corp | Runner |
| US20070084662A1 (en) * | 2005-10-13 | 2007-04-19 | Susumu Oikawa | Traveling apparatus and method of controlling the same |
| CN101501598A (en) * | 2006-08-11 | 2009-08-05 | 塞格威股份有限公司 | Speed limiting in electric vehicles |
| US7740099B2 (en) * | 1999-06-04 | 2010-06-22 | Segway Inc. | Enhanced control of a transporter |
| CN203268232U (en) * | 2013-01-30 | 2013-11-06 | 杭州亿脑智能科技有限公司 | Balance control device of intelligent balance car and intelligent balance car |
| US20160031515A1 (en) * | 2013-07-16 | 2016-02-04 | Sergey Nikolaevich Andreev | Two-Wheeled Gyroscope-Stabilized Vehicle and Methods for Controlling Thereof |
-
2016
- 2016-03-11 CN CN201610141538.3A patent/CN105680736B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7740099B2 (en) * | 1999-06-04 | 2010-06-22 | Segway Inc. | Enhanced control of a transporter |
| US20040007399A1 (en) * | 2000-10-13 | 2004-01-15 | Heinzmann John David | Method and device for battery load sharing |
| US6965206B2 (en) * | 2000-10-13 | 2005-11-15 | Deka Products Limited Partnership | Method and system for fail-safe motor operation |
| JP2007062682A (en) * | 2005-09-02 | 2007-03-15 | Toyota Motor Corp | Runner |
| US20070084662A1 (en) * | 2005-10-13 | 2007-04-19 | Susumu Oikawa | Traveling apparatus and method of controlling the same |
| CN101501598A (en) * | 2006-08-11 | 2009-08-05 | 塞格威股份有限公司 | Speed limiting in electric vehicles |
| CN203268232U (en) * | 2013-01-30 | 2013-11-06 | 杭州亿脑智能科技有限公司 | Balance control device of intelligent balance car and intelligent balance car |
| US20160031515A1 (en) * | 2013-07-16 | 2016-02-04 | Sergey Nikolaevich Andreev | Two-Wheeled Gyroscope-Stabilized Vehicle and Methods for Controlling Thereof |
Non-Patent Citations (2)
| Title |
|---|
| M.R.S.B. SOUZA ET AL: "PID Tuning for the pitch angle of a Two-Wheeled Vehicle", 《2015 12TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 2015 THIRD BRAZILIAN SYMPOSIUM ON ROBOTICS》 * |
| 华瑾等: "两轮自平衡机器人动力学建模与运动控制", 《西安工业大学学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107776436B (en) * | 2016-08-25 | 2019-08-16 | 北京小米移动软件有限公司 | The control method and device of double-wheel self-balancing equipment |
| CN106301093A (en) * | 2016-08-31 | 2017-01-04 | 北京首钢自动化信息技术有限公司 | The anti-torsion control method of elevating mechanism and device |
| CN108501768A (en) * | 2018-03-29 | 2018-09-07 | 南京航空航天大学 | A kind of two-wheeled method for control speed based on Z axis gyroscope and difference in wheel |
| CN108501768B (en) * | 2018-03-29 | 2021-05-07 | 南京航空航天大学 | Two-wheel speed control method based on Z-axis gyroscope and wheel speed difference |
| CN112511043A (en) * | 2020-11-20 | 2021-03-16 | 北京精密机电控制设备研究所 | Synchronous control system and method based on repeated motion multi-axis control |
| CN112841964A (en) * | 2020-12-30 | 2021-05-28 | 佛山市谱德电子科技有限公司 | Control method and system based on electric rocking chair |
| CN112841964B (en) * | 2020-12-30 | 2024-04-02 | 佛山市谱德电子科技有限公司 | Control method and system based on electric rocking chair |
| CN114337384A (en) * | 2021-12-30 | 2022-04-12 | 西安翔迅科技有限责任公司 | Double-propeller rotating speed and phase synchronous control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105680736B (en) | 2018-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105680736B (en) | A kind of bi-motor speed sync and balance control method based on yaw angle | |
| Ding et al. | Event-triggered vehicle sideslip angle estimation based on low-cost sensors | |
| CN105353762B (en) | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers | |
| CN104802697B (en) | Micro inertial measurement unit and adaptive front lamp control method based on this measuring unit | |
| CN109029448B (en) | Monocular vision inertial positioning's IMU aided tracking model | |
| CN109177746A (en) | A kind of control system and method turned to for wheel motor driving vehicle differential | |
| CN202939489U (en) | Multi-rotor autobalance flight controller | |
| CN104615153A (en) | TMX320F28335 floating point DSP (Digital Signal Processor) based two-shaft photoelectric tracking system | |
| CN202885834U (en) | Device for detecting motion states of vehicle | |
| CN207718226U (en) | A kind of double-wheel self-balancing trolley automatic following system | |
| CN105068543B (en) | It is a kind of that type AGV two-wheeled synchronous method is born based on PID control | |
| CN106142050B (en) | A kind of mobile robot that wheel difference of height is adaptive | |
| CN103606206A (en) | Automobile driving state sensing device and method | |
| CN111272158A (en) | Dynamic azimuth angle resolving method of MEMS electronic compass in complex magnetic disturbance scene | |
| CN113296525A (en) | Data-driven nonlinear control method for tilting three-rotor unmanned aerial vehicle | |
| CN114137975A (en) | Unmanned vehicle navigation deviation rectifying method based on ultrasonic-assisted fusion positioning | |
| CN104682789A (en) | PID (Proportion Integration Differentiation) controller applied to two-wheeled robots | |
| CN103019093B (en) | The preparation method of two-wheel vehicle used sensor fusion angle | |
| CN110162068A (en) | A kind of control method of self-balance robot | |
| CN103811870A (en) | Moving carrier signal receiving system | |
| CN110954137B (en) | Method for correcting assembly error scalar quantity of inertial navigation accelerometer | |
| CN110109353B (en) | Fuzzy self-adaptive sliding-mode control system of counteractive wheel balance bicycle robot | |
| CN115993089B (en) | PL-ICP-based online four-steering-wheel AGV internal and external parameter calibration method | |
| CN111399500A (en) | Centralized formation control method for two-wheeled self-balancing vehicle | |
| CN110954103A (en) | Method and system for estimating dynamic attitude of vehicle body based on MEMS sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |