CN106919177A - A kind of unmanned balance of bicycle control method based on rate gyroscope - Google Patents
A kind of unmanned balance of bicycle control method based on rate gyroscope Download PDFInfo
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
A kind of unmanned balance of bicycle control method based on rate gyroscope, comprises the following steps：(1) the balance system model without person bicycle is set up；(2) upright posture balance controller is designed；(3) shifted signal collected according to offset sensor, rate gyroscope framework is supplied to after control algolithm computing obtains control moment, so as to produce corresponding righting moment on cycle frame.Using method of the invention, it is possible to effectively control the vertical balanced of unmanned bicycle.
Description
Technical field
The present invention relates to unmanned bike tech, particularly a kind of unmanned balance of bicycle control based on rate gyroscope
Method.
Background technology
Since the mobile robot birth sixties in 20th century, researcher dreams of to study unmanned intelligent transportation work always
Tool, as the important component of intelligent transportation system, the influence of artificial uncertain factor is eliminated without person bicycle, not only may be used
To improve drive safety, and traffic congestion can be solved, improve energy utilization rate, Baidu once announces the complicated artificial intelligence of exploitation
Can without person bicycle, the product be possess the complicated artificial intelligence such as environment sensing, planning and self-balancing control without person bicycle,
Primary step achievement of the Baidu in artificial intelligence, deep learning, big data and cloud computing technology, but do not have to ins and outs
Any disclosure.At present mostly using using broad covered area, low cost, and motion intervention service system with strong points, to nobody
The intervention that the motion of bicycle is tallied with the actual situation, is expected to the problems such as solving bicycle vertical.
It is a typical time-dependent system without person bicycle, is based on bicycle, then to be equipped with rotation hand and drive
The performs device of dynamic trailing wheel is constituted, in order to realize the stable equilibrium without person bicycle in ride, using Personification Control strategy,
Handlebar is rotated up to toppling direction is same according to daily experience so that the partical gravity that car is toppled over is diverted to car body and is transported as curve
Dynamic centripetal force, it is to avoid car body is toppled over, and cyclist adjusts the center of gravity effect of itself, can aid in playing by car body from toppling over
The effect bicycle that direction is corrected back at equalization point is similar to inverted pendulum, but the former dynamics is more complicated, is research
Nonlinear Control the preferable experiment porch of control method such as Based Intelligent Control, be significant in theory.And at present mostly
The design of number bicycle bodies balance controller is carried out under conditions of speed is constant, and the dynamic behavior of bicycle with
Speed has very big relation, accordingly, it would be desirable to the using for change association rate gyroscope according to speed optimizes without person bicycle
Balance control method.
The content of the invention
On the one hand the purpose of the present invention is to provide a kind of unmanned balance of bicycle control method based on rate gyroscope,
Comprise the following steps：
(1) the balance system model without person bicycle is set up；
(2) upright posture balance controller is designed；
(3) shifted signal collected according to offset sensor, provides after control algolithm computing obtains control moment
Rate gyroscope framework is given, so as to produce corresponding righting moment on cycle frame.
Preferably, it is necessary to make the following assumptions before the balance system model in the step (1) is set up：Bicycle is included
Front-wheel, trailing wheel, four rigid bodies of car body and front fork, wheel are sufficiently fine, only have a contact point with ground, and wheel is in rolling process
Angled without relative slip and system institute is all in a small amount.
Preferably, the rate gyroscope in the step (1) is driven by a DC gear motor, in bicycle frame
A precise moments are produced on frame, the mechanically and electrically characteristic derivation of the torque through-rate gyroscope and tributary motor is used
Lagrangian method obtains the equation of motion of bicycle and rate gyroscope：
Torque on θ axles and β direction of principal axis and it is respectively：
The DC gear motor equation of motion is：
Wherein, mbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of gyroscope, hgRepresent bicycle matter
The vertical height of the heart, IbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of rate gyroscope, hgRepresent gyro
The vertical height of instrument barycenter, IPRepresent the polar moment of inertia relative to barycenter, IrThe radial direction torque relative to barycenter is represented, ω is represented
The quality of rate gyroscope, RmRepresent direct current generator impedance, LmRepresent the induction reactance of direct current generator, BmRepresent motor friction, KmRepresent
Torque voltage constant, θ represents bicycle inclination angle, and β represents gyroscopes frame angle, and i represents direct current generator electric current, and v represents direct current
Electromechanics pressure.
Preferably, with conventional linear control theory be combined the thought of Fuzzy Output Feedback system by the step (2),
And with reference to gyroscope use realize system when speed changes balance control.
Preferably, the step (2) defines " speed " v as language according to the basic thought of following fringe spatial model
Speech variable, is divided into multiple Fuzzy subspaee set, for each Fuzzy subspaee system dynamics by bicycle dynamics model
Characteristic is described with a local linear state equation, and whole system dynamics is the weighted sum of Local Linear Model, entirely
The rule that controls of system is the weighted sum of subsystems local feedback control, and multiple language are assigned by linguistic variable " speed "
Value, the experience in daily life, each Linguistic Value after describing, is obscured with a Triangleshape grade of membership function using one group
Contain the fuzzy feedback model of conditional clause descriptive system：
Preferably, the step (2) obtains the state equation of whole system using monodrome fuzzy device and center of gravity defuzzifier,
Relevance grade after the state equation of the whole system is normalized to the i-th rule is related.
Preferably, the step (2) can entirely be closed according to the dynamic fuzzy model and control law of whole system
The L-R fuzzy number of loop systems.
Preferably, the shifted signal that the step (3) collects according to offset sensor, obtains by control algolithm computing
Rate gyroscope framework is supplied to after control moment, so as to produce corresponding righting moment to include on cycle frame：It is determined that
Two steps of regulated quantity of handlebar accommodation property and determination handlebar.
Preferably, the step of determination handlebar accommodation property is communicated true by reading pin by the general-purpose interface of single-chip microcomputer
Stationary interface level determines handlebar accommodation property, passes on the motor positive and inverse of control handlebar by communication interface or keeps motor not
The information of rotation.
Preferably, the step of regulated quantity of the determination handlebar includes being stablized rate gyroscope around it using single-chip microcomputer
Output signal when axle is rotated is sampled, and the high level time length that sampling is obtained makes the difference with set-point and obtains deviation,
Acquisition is integrated without person bicycle around the angle that axle is turned over is stablized to deviation, so that it is determined that the regulated quantity of handlebar.
Using method of the invention, it is possible to effectively control the vertical balanced of unmanned bicycle.
According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will be brighter
Of the invention above-mentioned and other purposes, advantages and features.
Brief description of the drawings
Describe some specific embodiments of the invention in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter.
Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these
What accompanying drawing was not necessarily drawn to scale.Target of the invention and feature are considered to be will be apparent from below in conjunction with the description of accompanying drawing,
In accompanying drawing：
Fig. 1 is the flow of the unmanned balance of bicycle control method based on rate gyroscope according to the embodiment of the present invention
Figure；
Fig. 2 is the unmanned balance of bicycle control system schematic diagram based on rate gyroscope according to the embodiment of the present invention.
Specific embodiment
With reference to a kind of unmanned balance of bicycle control method based on rate gyroscope as described in detail below of accompanying drawing 1, including
Following steps：
(1) the balance system model without person bicycle is set up；
(2) upright posture balance controller is designed, and builds membership function；
(3) shifted signal collected according to offset sensor, provides after control algolithm computing obtains control moment
Rate gyroscope framework is given, so as to produce corresponding righting moment on cycle frame.
Wherein, according to a theorem in step (1) specific implementation process：System of material points is relative to the moving point ground moment of momentum to the time
Derivative be equal to the vector made a concerted effort to the square of the point of the external force system to the main square of the point and the traction inertia force being added on barycenter,
According to above-mentioned theorem, for each rigid body portion for constituting bicycle system, the computing of equivalent equation is carried out respectively.Therefore,
, it is necessary to make the following assumptions before balance system model foundation in step (1)：Bicycle includes front-wheel, trailing wheel, car body and front fork
Four rigid bodies, wheel is sufficiently fine, only has a contact point with ground, and wheel is slided and system in rolling process without relative
It is all in a small amount that institute is angled.Rate gyroscope is driven by a DC gear motor, and one is produced on bicycle frame accurately
The mechanically and electrically characteristic of torque, the torque through-rate gyroscope and tributary motor is derived, and is obtained using Lagrangian method
The equation of motion of bicycle and rate gyroscope：
Torque on θ axles and β direction of principal axis and it is respectively：
The DC gear motor equation of motion is：
Wherein, mbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of gyroscope, hgRepresent bicycle matter
The vertical height of the heart, IbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of rate gyroscope, hgRepresent gyro
The vertical height of instrument barycenter, IPRepresent the polar moment of inertia relative to barycenter, IrThe radial direction torque relative to barycenter is represented, ω is represented
The quality of rate gyroscope, RmRepresent direct current generator impedance, LmRepresent the induction reactance of direct current generator, BmRepresent motor friction, KmRepresent
Torque voltage constant, θ represents bicycle inclination angle, and β represents gyroscopes frame angle, and i represents direct current generator electric current, and v represents direct current
Electromechanics pressure
Wherein, in terms of controller design, dynamics and the speed of bicycle have it is very close contact, typically
Controller be difficult all to reach good control effect under a variety of speed, it is necessary to by the think of of Fuzzy Output Feedback system
Want to be combined with conventional linear control theory, and use with reference to gyroscope realizes the balance of system when speed changes
Control.
First, the basic thought according to following fringe spatial model defines " speed " v as linguistic variable, this think of
Think to be that bicycle dynamics model is divided into 5 Fuzzy subspaee set, it is special for each Fuzzy subspaee system dynamics
Property described with local linear state equation, whole system dynamics is the weighted sum of Local Linear Model, and v scopes exist
[0,25m/s], i.e. domain U=[0,25], fuzzy set T (speed)=it is very slow, at a slow speed, middling speed, quickly, quickly }, therefore, language
Speech variable " speed " has 5 Linguistic Values, the experience in daily life, and each Linguistic Value is with a triangle degree of membership letter
Count to describe, its expression formula is as follows：
In formula, i=1,2 ..., 5；, MiThe membership function of i-th element in fuzzy feedback set T is represented, is used
One group of fuzzy feedback model of Fuzzy implication conditional clause descriptive system：
If v is Mi, then x=Aix+Bu (5)
Wherein, Ai=A (vi), viIt is MiMembership function value be 1 when corresponding velocity amplitude, MiX () represents that x belongs to Mi's
Membership function, while also illustrating that the relevance grade of the i-th rule.
Using monodrome fuzzy device and center of gravity defuzzifier, so as to obtain the state equation of whole system：
In formula,Wherein, μi(x) table
Show the relevance grade after the normalization of the i-th rule.
So as to the fuzzy model that fuzzy controller can be expressed as：
If x (t) is Mi, then：
U (t)=- LiX (t) (9),
In formula, i=1,2 ..., 5,
The rule that controls of whole system is the weighted sum of subsystems local feedback control, i.e.,：
With reference to the dynamic fuzzy model and control law of whole system, the fringe side of whole closed-loop system can be obtained
Journey：
Using the Lyapunov method, it is closed-loop stabilization to find suitable Li so as to ensure whole system.
Referring to accompanying drawing 2, the shifted signal that step (3) is collected according to offset sensor is obtained by control algolithm computing
Rate gyroscope framework is supplied to after control moment, so as to produce corresponding righting moment on cycle frame.The step point
It is to communicate to determine that interface level determines handlebar accommodation property by reading pin by the general-purpose interface of single-chip microcomputer, by communication interface
Pass on the motor positive and inverse of control handlebar or keep the information that does not rotate of motor, and using single-chip microcomputer by rate gyroscope around
Output signal when it is by steady fixed-axis rotation is sampled, and the high level time length that sampling is obtained is made the difference with set-point and is obtained
Deviation, is integrated acquisition without person bicycle around the angle that axle is turned over is stablized, so that it is determined that the regulation of handlebar to deviation
Amount.
Because computer can only process data signal, it is therefore desirable to enter line translation to data signal and replaced using discrete summation
Rather, recursion is then carried out, shaping is carried out to the pwm signal of the enabling pulse of rate gyroscope and output using single-chip microcomputer, will
Single-chip microcomputer external interrupt 0 is that trailing edge triggers pattern, for being input into by the pwm signal of shaping, is by single-chip microcomputer external interrupt 1
Rising edge sets out pattern, for being input into by the reverse pwm signal of integer.
Although the present invention is described by reference to specific illustrative embodiment, these embodiments will not be subject to
Restriction and only limited by accessory claim.It should be understood by those skilled in the art that can be without departing from of the invention
Embodiments of the invention can be modified and be changed in the case of protection domain and spirit.
Claims (10)
1. a kind of unmanned balance of bicycle control method based on rate gyroscope, it is characterised in that comprise the following steps：
(1) the balance system model without person bicycle is set up；
(2) upright posture balance controller is designed；
(3) shifted signal collected according to offset sensor, speed is supplied to after control algolithm computing obtains control moment
Rate gyroscopes frame, so as to produce corresponding righting moment on cycle frame.
2. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 1, its feature exists
In, it is necessary to make the following assumptions before the balance system model foundation in the step (1)：Bicycle includes front-wheel, trailing wheel, car
Four rigid bodies of body and front fork, wheel is sufficiently fine, only has a contact point with ground, and wheel is in rolling process without relative slip
And it is all in a small amount that system institute is angled.
3. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 1, its feature exists
In the rate gyroscope in the step (1) is driven by a DC gear motor, and one is produced on bicycle frame
The mechanically and electrically characteristic of precise moments, the torque through-rate gyroscope and tributary motor is derived, using Lagrangian method
Obtain the equation of motion of bicycle and rate gyroscope：
Torque on θ axles and β direction of principal axis and it is respectively：
The DC gear motor equation of motion is：
Wherein, mbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of gyroscope, hgRepresent bicycle barycenter
Vertical height, IbRepresent rotary inertia of the bicycle relative to axle, mgRepresent the quality of rate gyroscope, hgRepresent gyroscope matter
The vertical height of the heart, IPRepresent the polar moment of inertia relative to barycenter, IrThe radial direction torque relative to barycenter is represented, ω represents speed
The quality of gyroscope, RmRepresent direct current generator impedance, LmRepresent the induction reactance of direct current generator, BmRepresent motor friction, KmRepresent power
Square voltage constant, θ represents bicycle inclination angle, and β represents gyroscopes frame angle, and i represents direct current generator electric current, and v represents direct current generator
Voltage.
4. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 1, its feature exists
In with conventional linear control theory be combined the thought of Fuzzy Output Feedback system by the step (2), and combines gyroscope
Use realize system when speed changes balance control.
5. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 4, its feature exists
" speed " v is defined as linguistic variable according to the basic thought of following fringe spatial model in, the step (2), will be from
Driving kinetic model is divided into multiple Fuzzy subspaee set, for each Fuzzy subspaee system dynamics with an office
Portion's linear state equations description, whole system dynamics is the weighted sum of Local Linear Model, the control rule of whole system
It is then the weighted sum of subsystems local feedback control, multiple Linguistic Values is assigned by linguistic variable " speed ", according to daily life
Experience in work, each Linguistic Value after describing, is retouched with a Triangleshape grade of membership function using one group of Fuzzy implication conditional clause
State the fuzzy feedback model of system.
6. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 4, its feature exists
In the step (2) obtains the state equation of whole system, the whole system using monodrome fuzzy device and center of gravity defuzzifier
The normalization of state equation and the i-th rule after relevance grade it is related.
7. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 4, its feature exists
In the step (2) obtains the fringe of whole closed-loop system according to the dynamic fuzzy model and control law of whole system
Equation.
8. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 1, its feature exists
In the shifted signal that the step (3) collects according to offset sensor is carried after control algolithm computing obtains control moment
Delivery rate gyroscopes frame, so as to produce corresponding righting moment to include on cycle frame：Determine handlebar accommodation property
With two steps of regulated quantity for determining handlebar.
9. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 8, its feature exists
In described being communicated by the general-purpose interface of single-chip microcomputer the step of determine handlebar accommodation property determines that interface level is true by reading pin
Determine handlebar accommodation property, the information passed on the motor positive and inverse of control handlebar or keep motor not rotate by communication interface.
10. a kind of unmanned balance of bicycle control method based on rate gyroscope according to claim 8, its feature exists
In, it is described determine handlebar regulated quantity the step of including using single-chip microcomputer by rate gyroscope around its by steady fixed-axis rotation when it is defeated
Go out signal to be sampled, the high level time length that sampling is obtained makes the difference with set-point and obtains deviation, to carrying out for deviation
Integration is obtained without person bicycle around the angle that axle is turned over is stablized, so that it is determined that the regulated quantity of handlebar..
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| CN201710209874.1A CN106919177A (en) | 2017-03-31 | 2017-03-31 | A kind of unmanned balance of bicycle control method based on rate gyroscope |
| PCT/CN2017/084511 WO2018176597A1 (en) | 2017-03-31 | 2017-05-16 | Unmanned bicycle balance control method based on rate gyroscope |
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| CN107728635A (en) * | 2017-11-13 | 2018-02-23 | 北京赛曙科技有限公司 | A kind of automatic balancing arrangement and method of motor cycle type robot |
| CN107932489A (en) * | 2018-01-15 | 2018-04-20 | 哈尔滨理工大学 | A kind of robot cycling device and control method |
| CN108189955A (en) * | 2018-01-26 | 2018-06-22 | 浙江大学 | A kind of unmanned bicycle of self-balancing of Behavior-based control driving and its control method for decomposing crucial balance |
| CN108298011A (en) * | 2018-01-26 | 2018-07-20 | 浙江大学 | A kind of unmanned bicycle of self-balancing based on model and its control method of data acquisition driving |
| CN108341007A (en) * | 2018-01-26 | 2018-07-31 | 浙江大学 | A kind of control method of the unmanned bicycle of self-balancing based on intellectual evolution and its environmental evolution adaptive Evolutionary |
| CN108357594A (en) * | 2018-01-26 | 2018-08-03 | 浙江大学 | A kind of unmanned bicycle of self-balancing based on intellectual evolution and its control method of competition and cooperation |
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| CN109991989A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Dynamical balancing method, device and storage medium under robot idle state |
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