CN107193208A - A kind of control method of the unilateral traveling of intelligent vehicle - Google Patents
A kind of control method of the unilateral traveling of intelligent vehicle Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及智能车技术领域，尤其涉及一种智能车单边行驶的控制方法。The invention relates to the technical field of smart cars, in particular to a control method for unilateral driving of smart cars.
背景技术Background technique
随着人工智能技术的飞速发展，智能化已成为当今社会的发展趋势。其中，智能车技术更是成为人们研究的热点领域。智能车在本质上也属于一种移动机器人，主要是通过各种传感器来识别周围环境，并通过各个功能模块实现对智能车的车速，方向及姿态的控制，从而使得智能车在行驶过程中能够更加安全、可靠。通过路径规划、机器视觉、目标识别、多传感器信息融合等技术，可以实现智能车的自主导航、自主避障控制。With the rapid development of artificial intelligence technology, intelligence has become the development trend of today's society. Among them, smart car technology has become a hot research field. The smart car is also a kind of mobile robot in essence. It mainly recognizes the surrounding environment through various sensors, and realizes the control of the speed, direction and attitude of the smart car through various functional modules, so that the smart car can be in the driving process. Safer and more reliable. Through path planning, machine vision, target recognition, multi-sensor information fusion and other technologies, the autonomous navigation and autonomous obstacle avoidance control of smart cars can be realized.
目前，智能控制理论和技术不断发展进步，智能车技术也不断的日新月异，许多智能车的实验平台和商品化的智能车辅助驾驶系统已迅速发展起来，有研究认为智能汽车作为一种全新的汽车概念和汽车产品，在不久的将来会成为汽车生产和汽车市场的主流产品。At present, the theory and technology of intelligent control continue to develop and progress, and the technology of intelligent vehicles is also constantly changing with each passing day. Many experimental platforms for intelligent vehicles and commercial intelligent vehicle auxiliary driving systems have developed rapidly. Some studies believe that intelligent vehicles are a new type of vehicle Concepts and automotive products will become mainstream products in automotive production and the automotive market in the near future.
智能车的姿态倾角数据计算是智能车单边行驶的设计中一个重要的环节，智能车的姿态算法影响到智能车行驶姿态的稳定性，所以，姿态算法的选择及数据融合显得尤为重要。姿态解算是捷联式惯性导航系统的关键技术，获取载体的姿态和导航参数计算需要的数据，是捷联式惯导算法中的重要工作，控制系统也要求导航计算环节能合理地描述载体的刚体空间运动。The calculation of attitude and inclination angle data of smart cars is an important link in the design of unilateral driving of smart cars. The attitude algorithm of smart cars affects the stability of driving attitude of smart cars. Therefore, the selection of attitude algorithm and data fusion are particularly important. Attitude resolution is the key technology of the strapdown inertial navigation system. Obtaining the attitude of the carrier and the data required for the calculation of navigation parameters is an important task in the strapdown inertial navigation algorithm. The control system also requires that the navigation calculation link can reasonably describe the carrier's Rigid body space motion.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种智能车单边行驶的控制方法，该方法可方便地实现智能车系统的单边行驶控制。The technical problem to be solved by the present invention is to provide a control method for unilateral driving of an intelligent vehicle, which can conveniently realize the unilateral driving control of the intelligent vehicle system.
本发明解决上述技术问题的技术方案如下：一种智能车单边行驶的控制方法，该方法包括：The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a control method for unilateral driving of a smart car, the method comprising:
通过传感器实时检测车身倾斜角度，并将数据传输至控制器；Real-time detection of vehicle body tilt angle through sensors, and transmit the data to the controller;
控制器接收传感器的数据，根据预期倾斜程度，利用特定控制算法输出占空比控制无刷电机，无刷电机通过作用于螺旋桨控制车身倾斜。The controller receives the data from the sensor, and uses a specific control algorithm to output the duty ratio to control the brushless motor according to the expected degree of inclination. The brushless motor controls the inclination of the vehicle body by acting on the propeller.
所述通过传感器实时检测车身倾斜角度，包括：采用四元数数据融和方法，通过对加速度计和陀螺仪的数据进行融合处理，消除积分运算积累的误差，得到智能车的车身倾角数据。The real-time detection of the tilt angle of the vehicle body through the sensor includes: adopting a quaternion data fusion method, by performing fusion processing on the data of the accelerometer and the gyroscope, eliminating the accumulated error of the integral operation, and obtaining the vehicle body tilt angle data of the smart car.
通过四元数法描述导航坐标系和载体坐标系的转换关系。The conversion relationship between the navigation coordinate system and the carrier coordinate system is described by the quaternion method.
根据四元数法及设定的初始参数，得到智能车陀螺仪的姿态角。According to the quaternion method and the set initial parameters, the attitude angle of the smart car gyroscope is obtained.
所述姿态角包括绕x轴旋转对应倾仰角、绕y轴旋转对应翻滚角和绕z轴旋转对应偏航角。The attitude angle includes a pitch angle corresponding to rotation around the x-axis, a roll angle corresponding to rotation around the y-axis, and a yaw angle corresponding to rotation around the z-axis.
基于互补滤波的智能车姿态解算，得到加速度计对陀螺仪的矫正误差。Based on the attitude calculation of the smart car based on complementary filtering, the correction error of the accelerometer to the gyroscope is obtained.
采用MUP6050模块，对加速度计和陀螺仪的数据进行融合处理。The MUP6050 module is used to fuse the accelerometer and gyroscope data.
采用四元数数据融合方法，得到智能车比较稳定的倾角数据。Using the quaternion data fusion method, the relatively stable inclination angle data of the smart car is obtained.
智能车的期望单边行驶角度通过角度环PID控制器控制无刷电机，无刷电机通过带动螺旋桨产生拉力，由互补滤波算法得到车体实际倾斜角度，实现控制系统单边行驶的负反馈调节。The expected unilateral driving angle of the smart car controls the brushless motor through the angle ring PID controller. The brushless motor generates pulling force by driving the propeller, and the actual inclination angle of the car body is obtained by the complementary filtering algorithm to realize the negative feedback adjustment of the unilateral driving of the control system.
通过PID控制算法实现驱动电机的转速调节以及转向舵机的角度调节，智能车的运动速度和运动方向采用闭环控制。The speed adjustment of the drive motor and the angle adjustment of the steering servo are realized through the PID control algorithm, and the movement speed and direction of the smart car are controlled by closed-loop control.
基于上述技术方案，本发明通过姿态传感器实时检测车身倾斜程度，控制器接收传感器数据，根据预期倾斜程度，利用特定控制算法输出占空比控制无刷电机、无刷电机带动螺旋桨产生拉力控制车身倾斜。本发明的互补滤波算法的动态跟踪精度高，并且该算法实现了四轮智能车的单边行驶，在速度转向控制方面，四轮智能车的位置偏差表现良好。Based on the above technical solution, the present invention detects the inclination degree of the vehicle body in real time through the attitude sensor, the controller receives the sensor data, and uses a specific control algorithm to output the duty ratio to control the brushless motor according to the expected inclination degree, and the brushless motor drives the propeller to generate pulling force to control the inclination of the vehicle body . The dynamic tracking precision of the complementary filtering algorithm of the present invention is high, and the algorithm realizes the unilateral driving of the four-wheel smart car, and in the aspect of speed steering control, the position deviation of the four-wheel smart car is good.
附图说明Description of drawings
图1为本发明实施例的载体坐标系和导航坐标系定义姿态角的示意图；1 is a schematic diagram of an attitude angle defined by a carrier coordinate system and a navigation coordinate system according to an embodiment of the present invention;
图2为本发明实施例的互补滤波融合算法原理框图；Fig. 2 is a functional block diagram of a complementary filter fusion algorithm according to an embodiment of the present invention;
图3为本发明实施例的智能车单边行驶控制算法框图；Fig. 3 is a block diagram of the unilateral driving control algorithm of the smart car according to the embodiment of the present invention;
图4为本发明实施例的第1组实验波形；Fig. 4 is the first group of experimental waveforms of the embodiment of the present invention;
图5为本发明实施例的第2组实验波形。Fig. 5 is the second group of experimental waveforms of the embodiment of the present invention.
具体实施方式detailed description
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
在根据本发明的一个实施例中，提出一种智能车单边行驶的控制方法，该方法包括：通过姿态传感器实时检测车身倾斜角度，并将数据传输至控制器；控制器接收传感器的数据，根据预期倾斜程度，利用特定控制算法输出占空比控制无刷电机，无刷电机通过作用于螺旋桨控制车身倾斜。通过测得的智能车姿态角信息，来控制螺旋桨的转速使得四轮智能车可以保持一个固定的角度，以实现单边行驶。In one embodiment of the present invention, a control method for unilateral driving of a smart car is proposed, the method includes: detecting the tilt angle of the vehicle body in real time through an attitude sensor, and transmitting the data to the controller; the controller receives the data from the sensor, According to the expected degree of inclination, a specific control algorithm is used to output the duty cycle to control the brushless motor, and the brushless motor controls the inclination of the vehicle body by acting on the propeller. The rotation speed of the propeller is controlled through the measured attitude angle information of the smart car so that the four-wheel smart car can maintain a fixed angle to achieve unilateral driving.
载体的姿态和航向体现了载体坐标系与导航坐标系之间的方位关系，确定两个坐标系之间的方位关系需要借助矩阵法和力学中的刚体定点运动的位移定理。通过矩阵法推导方向余弦表，而刚体定点运动的位移定理表明，定点运动刚体的任何有限位移都可以绕过定点的某一轴经过一次转动来实现。The attitude and heading of the carrier reflect the azimuth relationship between the carrier coordinate system and the navigation coordinate system. To determine the azimuth relationship between the two coordinate systems requires the use of the matrix method and the displacement theorem of rigid body fixed-point motion in mechanics. The direction cosine table is deduced by the matrix method, and the displacement theorem of rigid body fixed-point motion shows that any finite displacement of a fixed-point motion rigid body can be realized by a rotation around a certain axis of the fixed point.
目前描述动坐标相对参考坐标系方位关系的方法有多种，可简单地将其分为3类，即三参数法、四参数法和九参数法。三参数法也叫欧拉角法，四参数法通常指四元数法，九参数法称作方向余弦法。欧拉角法由于不能用于全姿态飞行运载体上而难以广泛用于工程实践，且实时计算困难。方向余弦法避免了欧拉法的“奇点”现象，但方程的计算量大，工作效率低。随着飞行运载体导航控制系统的迅速发展和数字计算机在运动控制中的应用，控制系统要求导航计算环节能更加合理地描述载体的刚体空间运动，四元数法的研究得到了广泛应用。At present, there are many methods for describing the orientation relationship of moving coordinates relative to the reference coordinate system, which can be simply divided into three categories, namely three-parameter method, four-parameter method and nine-parameter method. The three-parameter method is also called the Euler angle method, the four-parameter method usually refers to the quaternion method, and the nine-parameter method is called the direction cosine method. The Euler angle method cannot be widely used in engineering practice because it cannot be used on full-attitude flight vehicles, and it is difficult to calculate in real time. The direction cosine method avoids the "singularity" phenomenon of the Euler method, but the calculation of the equation is large and the work efficiency is low. With the rapid development of flight vehicle navigation control system and the application of digital computer in motion control, the control system requires that the navigation calculation link can more reasonably describe the rigid body space motion of the vehicle, and the research of quaternion method has been widely used.
所述通过姿态传感器实时检测车身倾斜角度，包括：采用四元数数据融和方法，通过对加速度计和陀螺仪的数据进行融合处理，得到智能车的车身倾角数据。The real-time detection of the tilt angle of the vehicle body through the attitude sensor includes: adopting a quaternion data fusion method to obtain the vehicle body tilt angle data of the smart car by performing fusion processing on the data of the accelerometer and the gyroscope.
在姿态解算中，定义两个坐标系导航坐标系n系和载体(body)坐标系b系来表示姿态角，其中导航坐标系采用东北天建立坐标系，导航坐标系的坐标原点o位于运载体的质心；载体坐标系采用右前上建立坐标系，载体坐标系原点o与导航坐标系原点o重合。姿态角的定义如图1所示，绕x轴旋转对应倾仰角(pitch)、绕y轴旋转对应翻滚角(roll)、绕z轴旋转对应偏航角(yaw)，分别为三轴欧拉角所示φ、θ、ψ。In attitude calculation, two coordinate systems, navigation coordinate system n and carrier (body) coordinate system b, are defined to represent the attitude angle. The center of mass of the carrier; the carrier coordinate system adopts the upper right front to establish a coordinate system, and the origin o of the carrier coordinate system coincides with the origin o of the navigation coordinate system. The definition of the attitude angle is shown in Figure 1. The rotation around the x-axis corresponds to the pitch angle (pitch), the rotation around the y-axis corresponds to the roll angle (roll), and the rotation around the z-axis corresponds to the yaw angle (yaw), which are three-axis Euler Angle shown φ, θ, ψ.
描述导航坐标系和载体坐标系的转换关系通常有三种方法：欧拉角法、方向余弦法、四元数法。这里选用计算量小、算法简单的四元数法描述导航坐标系和载体坐标系的转换关系。捷联惯导系统理论中定义四元数q：There are usually three methods to describe the conversion relationship between the navigation coordinate system and the carrier coordinate system: the Euler angle method, the direction cosine method, and the quaternion method. Here, the quaternion method with a small amount of calculation and a simple algorithm is used to describe the conversion relationship between the navigation coordinate system and the carrier coordinate system. The quaternion q is defined in the SINS theory:
q＝q0+q1i+q2j+q3k＝[q0 q1 q2 q3]T (1)q＝q 0 +q 1 i+q 2 j+q 3 k＝[q 0 q 1 q 2 q 3 ] T (1)
公式(1)中，q0为四元数的标量部分，q1、q2、q3为四元数的矢量部分，其中i2＝j2＝k2＝-1。In formula (1), q 0 is the scalar part of the quaternion, q 1 , q 2 , and q 3 are the vector parts of the quaternion, where i 2 =j 2 =k 2 =-1.
四元数微分方程为：The quaternion differential equation is:
公式(2)中：为b系相对n系的四元数；为的导数。In formula (2): is the quaternion of the b system relative to the n system; for derivative of .
定义陀螺仪的角速度测量输出值为可得Define the angular velocity measurement output value of the gyroscope as Available
采用先离散后迭代的方法对四元数微分方程进行求解。定义系统采样周期为Ts,离散化后四元数方程为：The quaternion differential equation is solved by the method of first discretization and then iteration. The system sampling period is defined as T s , and the quaternion equation after discretization is:
载体坐标系到导航坐标系的旋转矩阵由单位化四元数表示为：The rotation matrix from the carrier coordinate system to the navigation coordinate system Represented by a normalized quaternion as:
根据yzx顺规，可以求解出三个姿态角：According to the yzx rule, three attitude angles can be obtained:
假设初始姿态四元数给定为由公式(4)和(5)可得t时刻的四元数代入公式(7)即可得到t时刻的三轴欧拉角φ、θ、ψ。Suppose the initial pose quaternion is given as The quaternion at time t can be obtained from formulas (4) and (5) Substitute into formula (7) to get the three-axis Euler angles φ, θ, ψ at time t.
进一步，基于互补滤波的智能车姿态解算，得到加速度计对陀螺仪的矫正误差。Furthermore, based on the attitude calculation of the smart car based on complementary filtering, the correction error of the accelerometer to the gyroscope is obtained.
具体地，设加速度计在b系中的输出为bg＝[bgx bgy bgz]T，归一化后可得：Specifically, the output of the accelerometer in system b is assumed to be b g = [ b g x b g y b g z ] T , after normalization, it can be obtained:
其中||bg||为加速度计在b系中输出的2-范数。重力加速度在n系中的输出为ng*＝[0 0 1]T,则ng*在b系中的投影为：Where || b g|| is the 2-norm output by the accelerometer in the b system. The output of gravitational acceleration in the n system is n g * = [0 0 1] T , then the projection of n g * in the b system is:
公式(9)中为从n系到b系的转移矩阵。在b系中对加速度计输出N(bg)和bg*做向量积的运算可得到加速度计对陀螺仪的矫正误差：In formula (9) is the transition matrix from n series to b series. The correction error of the accelerometer to the gyroscope can be obtained by performing the vector product operation on the accelerometer output N( b g) and b g * in the b system:
公式(10)中×为向量积运算。In formula (10), × is a vector product operation.
将矫正误差经过比例和积分运算可得will correct the error After proportional and integral operations, it can be obtained
公式(11)中Kp为比例系数，Ki为积分系数。In formula (11), K p is the proportional coefficient, and K i is the integral coefficient.
综上所述，得到互补滤波融合算法原理框图如图2所示。In summary, the principle block diagram of the complementary filter fusion algorithm is obtained, as shown in Figure 2.
进一步，测量其中一个方向上的加速度值，则可以计算出智能车的倾角，例如使用Z轴方向上的加速度信号。智能车直立时，固定加速度器在Z轴水平方向，此时输出信号为零偏电压信号。当智能车发生倾斜时，重力加速度g便会在Z轴方向形成加速度分量，从而引起该轴输出电压变化。变化的规律为：Further, by measuring the acceleration value in one of the directions, the inclination angle of the smart car can be calculated, for example, by using the acceleration signal in the Z-axis direction. When the smart car is upright, the accelerometer is fixed in the horizontal direction of the Z axis, and the output signal at this time is a zero bias voltage signal. When the smart car is tilted, the gravitational acceleration g will form an acceleration component in the direction of the Z axis, which will cause the output voltage of the axis to change. The law of change is:
Δu＝kgsinθ≈kgθ (12)Δu＝kgsinθ≈kgθ (12)
式(12)中，g为重力加速度；θ为智能车倾角；k为加速度传感器灵敏度系数系数。当倾角θ比较小的时候，输出电压的变化可以近似与智能车倾角成正比。似乎只需要加速度就可以获得智能车的倾角，再对此信号进行微分便可以获得倾角的角速度。但在实际的智能车运行过程中，由于智能车本身的摆动所产生的加速度会产生很大的干扰信号，它叠加在上述测量信号上使得输出信号无法准确反映智能车的倾角。In formula (12), g is the acceleration of gravity; θ is the inclination angle of the smart car; k is the sensitivity coefficient of the acceleration sensor. When the inclination angle θ is relatively small, the change of the output voltage can be approximately proportional to the inclination angle of the smart car. It seems that only the acceleration is needed to obtain the inclination angle of the smart car, and then the angular velocity of the inclination angle can be obtained by differentiating this signal. However, during the actual operation of the smart car, the acceleration generated by the swing of the smart car itself will generate a large interference signal, which is superimposed on the above-mentioned measurement signal so that the output signal cannot accurately reflect the inclination of the smart car.
由于陀螺仪输出的是智能车的角速度，不会受到车体运动的影响，因此该信号中噪声很小。智能车的角度又是通过对角速度积分而得，这可进一步平滑信号，从而使得角度信号更加稳定。因此智能车控制所需要的角度和角速度可以使用陀螺仪所得到的信号。由于从陀螺仪角速度获得角度信息，需要经过积分运算。如果角速度信号存在微小的偏差和漂移，经过积分运算之后，变化形成积累误差。这个误差会随着时间延长逐步增加，最终导致电路饱和，因而无法形成正确的角度信号。Since the output of the gyroscope is the angular velocity of the smart car and will not be affected by the movement of the car body, the noise in this signal is very small. The angle of the smart car is obtained by integrating the angular velocity, which can further smooth the signal, thus making the angle signal more stable. Therefore, the angle and angular velocity required for smart car control can use the signal obtained by the gyroscope. Since the angle information is obtained from the angular velocity of the gyroscope, it needs to be integrated. If there is a slight deviation and drift in the angular velocity signal, after the integral operation, the change forms an accumulated error. This error will gradually increase over time, eventually causing the circuit to saturate, so that the correct angle signal cannot be formed.
本发明实施例采用MUP6050模块，对加速度计和陀螺仪的数据进行融合处理，采用四元数数据融合方法，消除积分运算积累的误差，得到智能车比较稳定的倾角数据。The embodiment of the present invention uses the MUP6050 module to fuse the data of the accelerometer and the gyroscope, and adopts the quaternion data fusion method to eliminate the accumulated error of the integral operation, and obtain relatively stable inclination data of the smart car.
图3为智能车单边行驶控制算法框图。图中θr为期望单边行驶角度，也既智能车单边行驶时的保持角度；θ为互补滤波算法算出的车体实际倾斜角度。θr通过角度环PID控制器控制无刷电机作用于螺旋桨，无刷电机通过带动螺旋桨产生拉力，由互补滤波算法得到的θ，从而实现控制系统单边行驶的负反馈调节。Figure 3 is a block diagram of the unilateral driving control algorithm of the smart car. In the figure, θ r is the expected unilateral driving angle, which is also the holding angle of the smart car when driving unilaterally; θ is the actual tilt angle of the car body calculated by the complementary filtering algorithm. θ r controls the brushless motor to act on the propeller through the angle loop PID controller. The brushless motor drives the propeller to generate pulling force. The θ obtained by the complementary filtering algorithm realizes the negative feedback adjustment of the control system for unilateral driving.
通过PID控制算法实现驱动电机的转速调节以及转向舵机的角度调节，智能车的运动速度和运动方向采用闭环控制。The speed adjustment of the drive motor and the angle adjustment of the steering servo are realized through the PID control algorithm, and the movement speed and direction of the smart car are controlled by closed-loop control.
本发明实施例为了验证互补滤波算法的静态稳定效果和动态跟踪精度，主要做了两组实验：1.四轮智能车四轮行驶时的横滚角的静态稳定性能；2.四轮智能车单边行驶时给定横滚角70°，互补滤波算法解算的姿态的动态跟踪性能。In the embodiment of the present invention, in order to verify the static stability effect and dynamic tracking accuracy of the complementary filtering algorithm, two groups of experiments were mainly done: 1. the static stability performance of the roll angle of the four-wheel smart car when the four wheels are running; 2. the four-wheel smart car Given a roll angle of 70° when driving on one side, the dynamic tracking performance of the attitude calculated by the complementary filtering algorithm.
第1组实验波形如图4所示。图中纵坐标为横滚角，横坐标为时间，该波形为四轮智能车四轮行驶时横滚角的静态波形。由波形可以得到，四轮行驶时，智能车的横滚角的最大值与最小值均为0.1，基本稳定在0°，符合算法的精度要求。The first group of experimental waveforms are shown in Figure 4. In the figure, the ordinate is the roll angle, and the abscissa is time. The waveform is the static waveform of the roll angle when the four-wheel smart car is running. It can be obtained from the waveform that when driving on four wheels, the maximum and minimum roll angles of the smart car are both 0.1, which is basically stable at 0°, which meets the accuracy requirements of the algorithm.
第2组实验波形如图5所示。图中纵坐标表示互补滤波算法解算的四轮智能车的横滚角，横坐标为时间。本文中，由于智能车的横滚角取决于智能车的硬件设计，螺旋桨旋转的中心线与智能车行驶地面的夹角为20°，故横滚角为70°。由波形可以看出，在1.2s时手动开启单边行驶功能后，在1.5s时智能车的姿态达到70°，并且基本无超调现象，之后一直稳定在70°行驶。实验结果证明了互补滤波算法的动态跟踪精度高，并且该算法实现了四轮智能车的单边行驶。The second group of experimental waveforms are shown in Figure 5. The ordinate in the figure represents the roll angle of the four-wheel smart car calculated by the complementary filtering algorithm, and the abscissa represents time. In this paper, since the roll angle of the smart car depends on the hardware design of the smart car, the angle between the center line of the propeller rotation and the ground on which the smart car is driving is 20°, so the roll angle is 70°. It can be seen from the waveform that after manually turning on the unilateral driving function at 1.2s, the attitude of the smart car reaches 70° at 1.5s, and there is basically no overshoot phenomenon, and it has been stable at 70° since then. The experimental results prove that the dynamic tracking accuracy of the complementary filtering algorithm is high, and the algorithm realizes the unilateral driving of the four-wheel intelligent vehicle.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
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