CN106080941B - A kind of unmanned bicycle for realizing speed change balance control - Google Patents
A kind of unmanned bicycle for realizing speed change balance control Download PDFInfo
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- CN106080941B CN106080941B CN201610633117.2A CN201610633117A CN106080941B CN 106080941 B CN106080941 B CN 106080941B CN 201610633117 A CN201610633117 A CN 201610633117A CN 106080941 B CN106080941 B CN 106080941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
Abstract
A kind of unmanned bicycle can be realized speed change balance control, including hardware configuration and control system.By improving bicycle hardware configuration; increase velocity sensor, angular transducer, handlebar steering motor, rear wheel drive motor, brake motor and controller; have devised completely new change control system structure; the control system includes steering controller module, speed fusion and parameter switching module, brake module and protective module; it can be according to collected frame posture and vehicle speed information; handlebar steering, rear wheel and the braking strength size for controlling bicycle, to realize balance and turning function of the bicycle in speed-change process.
Description
Technical field
The invention belongs to unmanned bicycle arts, particularly, are related to a kind of can be realized clever speed change balance control
Unmanned bicycle.
Background technique
Compared with pilotless automobile, unmanned bicycle has cheap, light and handy portable, flexible, environmentally friendly
The advantages that energy saving.At the same time, relative to four wheel constructions of automobile, the two-wheeled structural stability of bicycle is poor, needs that volume is added
Outer control could maintain to balance.
It maintains to balance most common and effective mode in currently available technology to be to utilize when imitating cyclist's steer bicycle
The steering of handlebar is manipulated to control bicycle inclination angle, to realize balance and steering, this method is low with energy consumption, responds
Fireballing feature, but the principle of this method can only guarantee bicycle with the balance under certain speed.
Balance and steering in the case where speed is constant are had been achieved in the prior art, but not yet realize unmanned bicycle
Flexible speed change.In fact, it is necessary to have accelerate to answer road pavement with deceleration for the running environment complexity of unmanned bicycle
Emergency case also more meets practical driving environment.
In fact, there is very big difficulty in the speed change balance control of bicycle:
Firstly, the dynamics of bicycle is one complicated non-linear, after model simplification, it can be found that the model of bicycle
It can change with speed, the speed Control problem of bicycle is VARIABLE PARAMETER PID CONTROL problem, and the control parameter of bicycle needs
Matching with current vehicle speed just can guarantee balance, this is also the difficult point of bicycle shift balance control；
Secondly, the measurement of speed has very big noise in speed-change process, sensor error, road surface variation, rear-wheel are risen
Sky etc. can all bring noise, and the introducing of noise is so that bicycle system is difficult to stablize.
Based on the above issues, the present invention proposes a kind of unmanned bicycle that can be realized speed change balance control.Pass through
The hardware of bicycle is reequiped, designs completely new change control system structure, which can be according to collecting
Frame posture and vehicle speed information, the handlebar for controlling bicycle turns to, rear wheel and braking strength size, from
And realize balance and turning function of the bicycle in speed-change process.In the process of running, unmanned bicycle can be certain
Flexible speed change in velocity interval, during which bicycle still is able to keep stablizing and realize to turn to.
The present invention has filled up unmanned bicycle in the blank of speed change balance control field.
Summary of the invention
A kind of unmanned bicycle for realizing speed change balance control of the invention, including hardware configuration and speed Control system
System, the hardware configuration include vehicle body, velocity sensor, angular transducer, handlebar steering motor, rear wheel drive motor, brake
Motor and controller, the change control system are the change control system being segmented based on speed, including steering controller mould
Block, speed fusion and parameter switching module, brake module and protective module, the velocity sensor is using spoke counting or suddenly
The revolving speed of your sensing principle measurement rear-wheel；The angular transducer obtains body sway by the posture of measurement frame
Angle and angular speed；The handlebar steering motor controls motor using mode position, by driving handlebar rotational angle, realizes voluntarily
Vehicle balance；The rear wheel drive motor controls motor using torque mode, by driving rear wheel to provide bicycle advance
Power；The brake motor controls motor using mode position, is realized not by the length for changing brake brake cable using motor
With the brake of dynamics；The controller realizes control algolithm by the signal of processing sensor and the input signal of control motor；
The dynamics of the steering controller module based on bicycle, the simplification ssystem transfer function of bicycle are as follows:
Wherein,For the body sway angle of bicycle, δ is the handlebar angle of rotation of bicycle, and a is bicycle center of gravity and rear-wheel
The horizontal distance of pick-up point, h are distance of the vehicle body without bicycle center of gravity when tilting to ground, and λ is the front fork angle of bicycle, VxFor
The speed of bicycle rear, c are bicycle hangover, and b is axle for bicycle away from g is acceleration of gravity, s Laplace operator；
The speed fusion and parameter switching modular character are:
It predicts dynamic speed, the dynamic vehicle speed V of bicycle is predicted according to the output torque of rear-wheel motord, function expression
Meet first order inertial loop, isWherein τdFor the output torque of rear-wheel motor, parameter C1,C2,C3With
Surface resistance it is of different sizes and different, need to run bicycle in flat road surface, pass through change rear-wheel motor output
Torque, and the variation of speed is recorded, it is fitted using dynamic relationship of the obtained experimental data to the two, obtains parameter C1,
C2,C3；
B. speed merges, and can accomplish more smoothly, then to predict dynamic since the output torque of rear-wheel motor artificially controls
Vehicle velocity VdRelative smooth, but the dynamic vehicle speed V predicteddError is larger, and the speed error of actual measurement is smaller, but noise
Greatly, fluctuation is violent, to the dynamic vehicle speed V of predictiondWith measurement vehicle velocity VlRespective disadvantage can be made up by carrying out fusion, be obtained more
Accurate and smooth vehicle velocity Vf；
C. control parameter switching table, control parameter K are established1、K2、K3It needs to be matched with current vehicle speed to guarantee bicycle
Balance, control parameter is carried out using speed segmentation method and is switched with speed, i.e., speed is segmented, per a bit of speed area
Between corresponding one group of control parameter；
The brake module carries out judgement and realizes autonomous stop according to the output torque and speed size of current rear-wheel motor
Vehicle:
A. it predicts steady state speed, the output torque τ of speed and rear-wheel motor is obtained according to fitting under no braking conditionsdIt is steady
State relationshipJudge the target steady state vehicle velocity V under current output torques, wherein parameter C4And C1,C2,C3Equally
It is obtained by fitting experimental data；
B. it brakes angle function, present fusion vehicle velocity VfWith the target steady state vehicle velocity V under current output torquesDifference note
ForAccording toSize judge whether to need to brake, much bigger than target steady state speed of present fusion speed are required
Braking strength it is bigger, accelerate moderating process, in order to avoid brake brake cable variation back and forth, brake is divided into several gears.
The specific structure of the steering controller module are as follows:
A. target vehicle body inclination angle is addedSteering order is represented, which mentioned to the operation of extraneous control bicycle
The interface of confession, to realize the function of left-hand rotation, right-hand rotation and the straight trip of bicycle；
B. the feedback to body sway angle and angular speed is added, it is therefore an objective to the body sway angle of bicycle and angular speed state
It levels off to respectivelyWith 0, feedback factor is K respectively1, K2, the target of feedback factor selection is that body sway angle is made to reach mesh as early as possible
The position at inclination angle is marked, and overshoot and oscillation are smaller；
C. the feedforward to target tilt angle is added, using the static relation at body sway angle and handlebar rotational angle, directly
Handlebar rotational angle is compensated, the response speed of handlebar rotation is accelerated, realizes the flexible and rapid steering of bicycle
Function, feed-forward coefficients K3, K3Value be K3=1/K0, wherein
The adjustment method of control parameter switching table is quickly established using interpolation method, debugging step is as follows:
A. the control parameter under high, normal, basic three gears speed is demarcated, the output torque of rear-wheel motor is adjusted in flat road surface,
It runs bicycle near calibration speed, and K is adjusted according to experimental phenomena1、K2, the vehicle body during turning of bicycle is made to incline
Oblique angle tends towards stability as early as possible and overshoot is smaller；
B. the control parameter of midrange speed is obtained using interpolation method, due to K3Value directly according to K3=1/K0It obtains, only
It needs to consider K1、K2Value, using inverse proportion function in step a three gear speed under corresponding K1And K2It is quasi- to carry out numerical value
It closes, interpolation is carried out to calibration speed and obtains the K under calibration speed1And K2；
C. the division of speed interval, using the average value of adjacent calibration speed as the line of demarcation in section, selection distance is current
Merge the control parameter that the nearest corresponding parameter of calibration speed of speed is steering controller.
The change control system based on speed segmentation is replaced with into change control system neural network based, it is described
The samples sources of change control system neural network based are in the experiment number of the change control system based on speed segmentation
Replace part relevant to the output of handlebar steering angle according to, neural network, body sway angle and its angular speed, target tilt angle,
Rear-wheel target output torque and measurement speed are as network inputs, and handlebar rotational angle is exported as network, and rest part is constant.
Unmanned bicycle of the invention, may be implemented technical effect below:
The present invention controls handlebar steering, rear wheel drive and brake using 3 motors respectively, and steering motor uses mode position
Torque, velocity mode, mode position fast response time are compared in control；
The present invention is exported according to the handlebar steering angle at the body sway angle of bicycle and angular velocity information control bicycle, control
Parameter processed includes feedback factor K1、K2With feed-forward coefficients K3, steering controller is designed according to the approximate kinetic model of bicycle,
The addition wherein to feedover makes bicycle handle bar be rapidly reached target position, accelerates the response speed of system, can be realized more
It is flexible to turn to；
The present invention measures the dynamic relationship of speed and rear-wheel motor output torque that fitting obtains in advance, estimates bicycle
Dynamic vehicle speed, dynamic vehicle speed fluctuation is smaller, and deviation is larger, and the speed fluctuation measured is larger, and deviation is smaller, melts to the two
It closes to obtain more stably speed, carrying out control parameter switching using more stable speed facilitates the stabilization of enhancing system
Property；
The present invention provides a kind of method for building up of quickly and effectively control parameter switching table, first demarcate high, normal, basic 3 gear speed
Corresponding control parameter is spent, inverse proportion function fitting then is carried out to the relationship of part control parameter therein and speed, is utilized
Speed interpolation obtains the corresponding control parameter of other speed in section；The switching for carrying out control parameter is finally segmented using speed,
Establish control parameter switching table；
The steady state relation of speed and rear-wheel motor output torque that the present invention measures in advance, obtains the power of rear-wheel motor
The corresponding target steady state speed of square, the dynamics braked needed for being judged according to the gap of current vehicle speed and target steady state speed, is realized
From the function of main brake, and make the dynamic vehicle speed predicted in moderating process and true velocity closer to；
For control system based on speed segmentation by establishing suitable parameter list, finally can be realized bicycle stablizes fortune
Row flexibly turns to and speed change；
Meanwhile on the basis of being segmented progress control parameter switching according to speed, the invention proposes be based on neural network
Change control system, obtain more smooth and stable output using the nonlinear fitting ability of neural network, avoid control
The mutation of parameter processed.The neural network is characterized in that training set sample and test set sample use the speed change being segmented based on speed
The experimental data of control system not only inherits the matching feature of control parameter and speed, also achieves more smooth handlebar
Steering angle output.
Detailed description of the invention
Fig. 1 is hardware structural diagram of the invention；
Fig. 2 is change control system structural schematic diagram of the invention；
Fig. 3 is steering controller structural schematic diagram of the invention；
Fig. 4 is brake angle function schematic diagram of the invention；
Fig. 5 is change control system schematic diagram neural network based of the invention.
Appended drawing reference in figure: 1 is vehicle body；2 be velocity sensor；3 be angular transducer；4 be handlebar steering motor；5 are
Rear wheel drive motor；6 be brake motor；7 be controller.
Specific embodiment
The embodiment of the present invention is described in detail referring now to attached drawing 1-4.
As shown in Figure 1, a kind of unmanned bicycle hardware configuration of speed change balance control, including vehicle body 1, velocity pick-up
Device 2, angular transducer 3, handlebar steering motor 4, rear wheel drive motor 5, brake motor 6 and controller 7, wherein
Velocity sensor 2 is counted using spoke or the revolving speed of the principles measurement rear-wheel such as hall sensing, and by rear-wheel speed
VxIndicate bicycle speed；
Angular transducer 3 obtains body sway angle by the posture of measurement frameAnd angular speed；
Handlebar steering motor 4 controls motor using the mode position for accelerating system response time, passes through driving handlebar rotation
Angle δ realizes the function of balance of bicycle；
5 torque mode of rear wheel drive motor controls motor, it is preferable that using insertion inside wheel hub motor passes through
Driving rear wheel is to provide the power of bicycle advance, and wherein output torque size is τ；
Brake motor 6 equally controls motor using the mode position for accelerating system response time, by being changed using motor
The length of brake brake cable realizes the brake of different dynamics, with brake angle, θbIndicate the braking strength of motor；
Controller 6 is core calculations unit, by handling the signal of sensor and the input signal of control motor, realizes control
Algorithm processed.
As shown in Fig. 2, a kind of change control system for the unmanned bicycle for realizing speed change balance control, including turn to
Controller module, speed fusion and parameter switching module, brake module and protective module.
The steering controller module is to realize the balance of unmanned bicycle and the key component of steering.
Its design is the dynamics based on bicycle, the simplification ssystem transfer function of bicycle are as follows:
Wherein,For the body sway angle of bicycle, δ is the handlebar angle of rotation of bicycle, and a is bicycle center of gravity and rear-wheel
The horizontal distance of pick-up point, h are distance of the vehicle body without bicycle center of gravity when tilting to ground, and λ is the front fork angle of bicycle, VxFor
The speed of bicycle rear, c are bicycle hangover, and b is axle for bicycle away from g is acceleration of gravity, s Laplace operator.
As shown in figure 3, the specific structure of the steering controller module are as follows:
(1) target vehicle body inclination angle is addedSteering order is represented, which mentioned to the operation of extraneous control bicycle
The interface of confession, to realize the function of left-hand rotation, right-hand rotation and the straight trip of bicycle.
(2) feedback to body sway angle and angular speed is added, it is therefore an objective to the body sway angle of bicycle and angular speed shape
State levels off to respectivelyWith 0.Feedback factor is K respectively1, K2, the target of feedback factor selection is: arriving body sway angle as early as possible
Up to the position at target tilt angle, and overshoot and smaller, not explicit expression is vibrated, needs the experiment effect according to model machine
It is adjusted.
(3) feedforward to target tilt angle is added, using the static relation at body sway angle and handlebar rotational angle, directly
Handlebar rotational angle is compensated, the response speed of handlebar rotation is accelerated, realizes the flexible and rapid steering of bicycle
Function, feed-forward coefficients K3, K3Value be K3=1/K0, wherein
The speed fusion and parameter switching module are the cores for realizing unmanned bicycle shift balance.
The more accurate and lesser speed of fluctuation is estimated, and according to the speed switching control parameter K of estimation1、K2And K3,
Realize the matching of bicycle speed and control parameter.The module is characterized in:
(1) it predicts dynamic speed, the dynamic vehicle speed V of bicycle is predicted according to the output torque of rear-wheel motord, function representation
Formula meets first order inertial loop, isWherein τdFor the output torque of rear-wheel motor, parameter C1,C2,C3With
Surface resistance it is of different sizes and different, need to run bicycle in flat road surface, pass through change rear-wheel motor it is defeated
Torque out, and the variation of speed is recorded, it is fitted using dynamic relationship of the obtained experimental data to the two, obtains parameter
C1,C2,C3。
(2) speed merges, and can accomplish more smoothly, then to predict dynamic since the output torque of rear-wheel motor artificially controls
Vehicle velocity VdRelative smooth, but the dynamic vehicle speed V predicteddError is larger；And the speed error of actual measurement is smaller, but noise
Greatly, fluctuation is violent.To the dynamic vehicle speed V of predictiondWith measurement vehicle velocity VlRespective disadvantage can be made up by carrying out fusion, be obtained more
Accurate and smooth vehicle velocity Vf。
(3) control parameter switching table, control parameter K1、K2、K3It needs to match with current vehicle speed and just can guarantee bicycle
Balance.The present invention carries out control parameter with the switching of speed using speed segmentation method, i.e., is segmented to speed, per a bit of
Speed interval corresponds to one group of control parameter.
The brake module carries out judgement and realizes autonomous stop according to the output torque of current rear-wheel motor and speed size
Vehicle.
(1) it predicts steady state speed, the output torque τ of speed and rear-wheel motor is obtained according to fitting under no braking conditionsd's
Steady state relationJudge the target steady state vehicle velocity V under current output torques, wherein parameter C4And C1,C2,C3One
Sample is obtained by fitting experimental data.
(2) brake angle function, present fusion vehicle velocity VfWith the target steady state vehicle velocity V under current output torquesDifference note
ForAccording toSize judge whether to need to brake, much bigger than target steady state speed of present fusion speed are required
Braking strength it is bigger, accelerate moderating process.In order to avoid the variation back and forth for the brake cable that brakes, brake can be divided into several
Brake, is divided into three gears that do not brake, slightly brake and bring to a halt by gear as shown in Figure 4.
The protective module:
(1) interlock switch, if there is brake, switch output is zero；It does not brake, exports Ud.It brakes in order to prevent
When rear-wheel motor still moment export, reduce unnecessary energy consumption and protect motor.
(2) output violent change, the minimum torque that limitation rear-wheel motor exports in the process of running are τL, to overcome in motor
Portion's resistance.
For the flexible speed change for realizing unmanned bicycle, the present invention quickly establishes control ginseng using interpolation method using a kind of
The adjustment method of number switching table.Adjustment method is introduced, for convenience to realize flexible speed change of the speed within the scope of 2m/s-6m/s
For, the debugging step of control parameter switching table is as follows:
(1) control parameter under high, normal, basic three gears speed, such as high, normal, basic three gear of calibration 2m/s, 4m/s and 6m/s are demarcated
Control parameter under speed, it is high, normal, basic three gear speed can be it is non-uniform, but between each other should gap it is larger.With vehicle
For parameter calibration when speed is 2m/s, in flat road surface, the output torque of rear-wheel motor is adjusted, makes bicycle in 2m/s
Operation nearby constantly adjusts K according to experimental phenomena1、K2, the body sway angle during turning of bicycle is made to tend to be steady as early as possible
Fixed and overshoot is smaller.The difficult point of this step is: needing to continuously adjust parameter by a large amount of experiment, just can determine that conjunction
Suitable parameter K1And K2, which takes a substantial amount of time.It should be noted that above-mentioned 2m/s, 4m/s and 6m/s tri- keeps off speed
Only example is not construed as any restrictions made to the present invention.
(2) control parameter of midrange speed is obtained using interpolation method, due to K3Value directly according to K3=1/K0It obtains,
It only needs to consider K1、K2Value, using inverse proportion function in (1) three gear speed under corresponding K1And K2It is quasi- to carry out numerical value
Close, and interpolation carried out to other speed in 2m/s-6m/s, can according to the uniform difference of speed, such as interpolation obtain 2.5m/s,
K under 3m/s, 3.5m/s, 4.5m/s, 5m/s, 5.5m/s speed1And K2.In order to ensure the control for the control parameter that interpolation obtains
Effect can be finely adjusted on the parameter basis that difference obtains by experiment effect.By speed interpolation, can greatly reduce
Manpower required for parameter calibration.
(3) division of speed interval, it is therefore an objective to determine the foundation for carrying out speed segmentation.Common method is: with adjacent mark
Line of demarcation of the average value of constant speed degree as section selects the calibration speed nearest apart from present fusion speed corresponding in other words
Parameter be steering controller control parameter.
The above-mentioned method for being segmented progress control parameter switching according to speed can be realized the flexible speed change of bicycle, but speed
When by the separation of speed interval, control parameter can mutate, and be unfavorable for the stabilization of bicycle.
In order to solve the problems, such as that separation parameter is mutated, on the basis of the change control system being segmented based on speed, this
Invention proposes change control system neural network based, is obtained using the nonlinear fitting ability of neural network more smooth
With stable output.
The structure of change control system neural network based using neural network as shown in figure 5, replace turning to handlebar
Angle exports relevant part, body sway angle and its angular speed, target tilt angle, rear-wheel target output torque and measurement speed
As network inputs, handlebar rotational angle is exported as network, and rest part is constant.
Unmanned bicycle is controlled using the change control system of speed segmentation and carries out steering and speed change experiment, is recorded defeated
The data for entering output take a part therein as training set sample, instruction of the another part as test set sample, for network
Practice.
The structure of neural network can be using feedforward neural network etc., and the weight and threshold value network consisting that all layers of network are joined
Number vectorNetwork output and the error function of sample output areError function is indicated using Minimum Mean Square Error (MSE).
In the case where known sample and network structure and sample, the training process of network parameter:
(1) input is normalized, i.e., normalized to input between [- 1,1], initiation parameter vectorIt takes at random
Number between [- 1,1]；
(2) by parameter vectorIt substitutes into network, obtains network output, and find out output error It can adopt
With Minimum Mean Square Error (MSE) etc.；
(3) error back propagation principle (Back Propagation) is utilized, finds out the gradient of error
(4) gradient descent method undated parameter vector is utilizedη indicates the speed of gradient decline；
(5) judge whether to meet termination condition, for example reach target minimal error or maximum frequency of training etc..If not yet
Meet termination condition, then repeatedly step 2-5, until meeting termination condition.
Change control system neural network based can obtain the output of more smooth handlebar steering angle, can be realized
Flexible speed change without person bicycle, and further enhance the stability of system.
Although above by illustration, it has been described that the optimal specific embodiment of the present invention, protection of the invention
Range is not limited in above description, and persons skilled in the art without departing substantially from the present invention it is understood that instructed
Under the premise of essence and marrow, any modifications and variations both fall within protection scope of the present invention.
Claims (4)
1. a kind of unmanned bicycle for realizing speed change balance control, including hardware configuration and change control system, described hard
Part structure includes vehicle body (1), velocity sensor (2), angular transducer (3), handlebar steering motor (4), rear wheel drive motor
(5), brake motor (6) and controller (7), the change control system are the change control system being segmented based on speed, packet
Include steering controller module, speed fusion and parameter switching module, brake module and protective module, it is characterised in that:
The velocity sensor (2) is counted using spoke or the revolving speed of hall sensing principle measurement rear-wheel；
The angular transducer (3) obtains body sway angle and angular speed by the posture of measurement frame；
The handlebar steering motor (4) controls motor using mode position, by driving handlebar rotational angle, realizes that bicycle is flat
Weighing apparatus；
The rear wheel drive motor (5) controls motor using torque mode, by driving rear wheel to provide bicycle advance
Power；
The brake motor (6) controls motor using mode position, is realized not by the length for changing brake brake cable using motor
With the brake of dynamics；
The controller (7) realizes control algolithm by the signal of processing sensor and the input signal of control motor；
The dynamics of the steering controller module based on bicycle, the simplification ssystem transfer function of bicycle are as follows:
Wherein,For the body sway angle of bicycle, δ is the handlebar angle of rotation of bicycle, and a is that bicycle center of gravity and rear-wheel land
The horizontal distance of point, h are distance of the vehicle body without bicycle center of gravity when tilting to ground, and λ is the front fork angle of bicycle, VxFor voluntarily
The speed of back wheels of vehicle, c are bicycle hangover, and b is axle for bicycle away from g is acceleration of gravity, s Laplace operator；
The speed fusion and parameter switching modular character are:
A. it predicts dynamic speed, the dynamic vehicle speed V of bicycle is predicted according to the output torque of rear-wheel motord, function expression satisfaction
First order inertial loop isWherein τdFor the output torque of rear-wheel motor, parameter C1,C2,C3With road surface
Resistance it is of different sizes and different, need to run bicycle in flat road surface, by change rear-wheel motor output torque,
And the variation of speed is recorded, it is fitted using dynamic relationship of the obtained experimental data to the two, obtains parameter C1,C2,C3；
B. speed merges, and can accomplish more smoothly, then to predict dynamic vehicle speed V since the output torque of rear-wheel motor artificially controlsd
Relative smooth, but the dynamic vehicle speed V predicteddError is larger, and the speed error of actual measurement is smaller, but noise is big, wave
It is dynamic violent, to the dynamic vehicle speed V of predictiondWith measurement vehicle velocity VlCarry out fusion can make up respective disadvantage, obtain it is more accurate and
Smooth vehicle velocity Vf；
C. control parameter switching table, control parameter K are established1、K2、K3It needs to match with current vehicle speed to guarantee the flat of bicycle
Weighing apparatus carries out control parameter using speed segmentation method and switches with speed, i.e., be segmented to speed, per a bit of speed interval pair
Answer one group of control parameter；
The brake module carries out judgement and realizes from main brake according to the output torque and speed size of current rear-wheel motor:
A. it predicts steady state speed, the output torque τ of speed and rear-wheel motor is obtained according to fitting under no braking conditionsdStable state close
SystemJudge the target steady state vehicle velocity V under current output torques, wherein parameter C4And C1,C2,C3Equally pass through
Fitting experimental data obtains；
B. it brakes angle function, present fusion vehicle velocity VfWith the target steady state vehicle velocity V under current output torquesDifference be denoted asAccording toSize judge whether to need to brake, much bigger than target steady state speed of present fusion speed are required
Braking strength is bigger, accelerates moderating process, and in order to avoid the variation back and forth for the brake cable that brakes, brake is divided into several gears.
2. bicycle according to claim 1, which is characterized in that the specific structure of the steering controller module are as follows:
A. target vehicle body inclination angle is addedSteering order is represented, which connect to what the operation of extraneous control bicycle provided
Mouthful, to realize the function of left-hand rotation, right-hand rotation and the straight trip of bicycle；
B. the feedback to body sway angle and angular speed is added, it is therefore an objective to the body sway angle of bicycle and angular speed state difference
It levels off toWith 0, feedback factor is K respectively1, K2, the target of feedback factor selection is that body sway angle is made to reach target as early as possible
The position at inclination angle, and overshoot and oscillation are smaller；
C. the feedforward to target tilt angle is added, using the static relation at body sway angle and handlebar rotational angle, directly to vehicle
Rotational angle is compensated, the response speed of handlebar rotation is accelerated, realizes the flexible and rapid turning function of bicycle,
Feed-forward coefficients K3, K3Value be K3=1/K0, wherein
3. bicycle according to claim 2, which is characterized in that quickly establish control parameter switching table using interpolation method
Adjustment method, debugging step are as follows:
A. the control parameter under high, normal, basic three gears speed is demarcated, the output torque of rear-wheel motor is adjusted in flat road surface, is made certainly
Driving is run near calibration speed, and adjusts K according to experimental phenomena1、K2, make the body sway angle during turning of bicycle
It tends towards stability as early as possible and overshoot is smaller；
B. the control parameter of midrange speed is obtained using interpolation method, due to K3Value directly according to K3=1/K0It obtains, it is only necessary to
Consider K1、K2Value, using inverse proportion function in step a three gear speed under corresponding K1And K2Numerical fitting is carried out, it is right
Calibration speed carries out interpolation and obtains the K under calibration speed1And K2；
C. the division of speed interval is selected using the average value of adjacent calibration speed as the line of demarcation in section apart from present fusion
The nearest corresponding parameter of calibration speed of speed is the control parameter of steering controller.
4. bicycle according to claim 1-3, which is characterized in that by the speed change based on speed segmentation
Control system replaces with change control system neural network based, the sample of the change control system neural network based
From the experimental data of the change control system based on speed segmentation, neural network replaces exporting with handlebar steering angle
Relevant part, body sway angle and its angular speed, target tilt angle, rear-wheel target output torque and measurement speed are as network
Input, handlebar rotational angle are exported as network, and rest part is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610633117.2A CN106080941B (en) | 2016-08-04 | 2016-08-04 | A kind of unmanned bicycle for realizing speed change balance control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610633117.2A CN106080941B (en) | 2016-08-04 | 2016-08-04 | A kind of unmanned bicycle for realizing speed change balance control |
Publications (2)
| Publication Number | Publication Date |
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