CN107600267A - A kind of control method of two wheel single-track vehicle and its balance - Google Patents
A kind of control method of two wheel single-track vehicle and its balance Download PDFInfo
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- CN107600267A CN107600267A CN201710810932.6A CN201710810932A CN107600267A CN 107600267 A CN107600267 A CN 107600267A CN 201710810932 A CN201710810932 A CN 201710810932A CN 107600267 A CN107600267 A CN 107600267A
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- 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
Abstract
The invention provides a kind of two wheel single-track vehicles and its control method of balance, inserted computer is according to the running data and traveling target data in the present invention, after calculating and exporting the motor drive signal of collaboration, the Motor drive subsystem controls the torque of corresponding motor to export according to each signal in the motor drive signal of collaboration so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.This method is not defined to the state of vehicle, i.e. vehicle is either in halted state, transport condition, either mutual switching state between dead ship condition and transport condition when, it can ensure that vehicle dynamic equilibrium travels, solve the existing two wheel single-track vehicles for automatically controlling balance, in vehicle from dead ship condition to transport condition or during from transport condition to dead ship condition, it is impossible to automatic the problem of keeping dynamic equilibrium.
Description
Technical field
The present invention relates to two wheel single-track vehicle control fields, in particular, are related to one kind two and take turns single-track vehicle and its put down
The control method of weighing apparatus.
Background technology
Two wheel single-track vehicles, such as：Electric bicycle and motorcycle, with high energy-conservation, low emission and low spatial occupancy, get over
Liked to get over by user, and then the utilization rate of two wheel single-track vehicles rises year by year.
Driver is when using two wheel single-track vehicles, in order to ensure the dynamic equilibrium of two wheel single-track vehicles, it is proposed that automatic
Two wheel single-track vehicles of control balance, the controller on two wheel single-track vehicles of balance is automatically controlled according to the biography installed on vehicle
The vehicle operation data and traveling target data that sensor measurement obtains, using multi-body Dynamics Model and underactuated system side
Method, the turning motors and brake actuators of the wheel single-track vehicle of control two, to reach the dynamic equilibrium of two wheel single-track vehicles.
The turning motors automatically controlled in two wheel single-track vehicles of balance can be adjusted only in the case of non-zero speed
Vehicle body center of gravity and the relative position of wheel supporting point are saved, so the existing two wheel single-track vehicles for automatically controlling balance, in vehicle
When from dead ship condition to transport condition either from transport condition to dead ship condition, it is impossible to keep dynamic equilibrium automatically.
The content of the invention
In view of this, the present invention provide it is a kind of two wheel single-track vehicle and its balance control methods, with solve it is existing from
Two wheel single-track vehicles of dynamic control balance, in vehicle from dead ship condition to transport condition or from transport condition to dead ship condition
When, it is impossible to automatic the problem of keeping dynamic equilibrium.
In order to solve the above technical problems, present invention employs following technical scheme：
One kind two takes turns single-track vehicle, including sensor subsystem, inserted computer and Motor drive subsystem；Wherein, institute
Stating Motor drive subsystem includes turning motors driver, front-wheel motor driver and the brake drive in front wheels and rear wheels
Dynamic device is formed；
The sensor subsystem, for gathering the running data and traveling target data of two wheel single-track vehicles；
The inserted computer, for according to the running data and the traveling target data, calculating and exporting collaboration
Motor drive signal；
The Motor drive subsystem, for the corresponding electricity of each signal control in the motor drive signal according to collaboration
The torque output of machine so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
Preferably, the inserted computer is used to, according to the running data and the traveling target data, calculate and defeated
When going out the motor drive signal of collaboration, it is specifically used for：
According to the running data and the traveling target data, based on non-linear dynamic model and nonlinear Control mould
Type, calculate and export the motor drive signal of collaboration.
Preferably, the inserted computer is used to, according to the running data and the traveling target data, calculate and defeated
When going out the motor drive signal of collaboration, it is specifically used for：
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target packet
Include steering information, brake pedal information and the gas pedal information of driver's input；
The running data gathered according to the sensor subsystem and the wish path, calculate and export turning electricity
The control signal of machine driver, front-wheel motor driver and two brake actuators.
Preferably, the inserted computer is used to, according to the running data and the traveling target data, calculate and defeated
When going out the motor drive signal of collaboration, it is specifically used for：
The running data gathered according to the traveling target data and the sensor subsystem, calculates and exports turning
The control signal of motor driver, front-wheel motor driver and two brake actuators.
Preferably, each signal that the Motor drive subsystem is used in the motor drive signal according to collaboration controls phase
During the torque output for the motor answered, it is specifically used for：
The turning motors driver is turned according to the turning drive signal in the motor drive signal of the collaboration, control
The torque output of motor；
The front-wheel motor driver controls front-wheel according to the front-wheel drive signal in the motor drive signal of the collaboration
The torque output of motor；
Two brake actuators, for the brake drive signal in the motor drive signal according to the collaboration, control
The torque output of two brake motors of system.
A kind of control method of two wheels single-track vehicle balance, applied to two wheel single-track vehicles, including：
The running data and traveling target data of the wheel single-track vehicle of sensor subsystem collection two；
Inserted computer calculates according to the running data and the traveling target data and exports the motor driving of collaboration
Signal；
Motor drive subsystem controls the torque of corresponding motor according to each signal in the motor drive signal of collaboration
Output so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
Preferably, the inserted computer calculates according to the running data and the traveling target data and exports association
Same motor drive signal, including：
According to the running data and the traveling target data, based on non-linear dynamic model and nonlinear Control mould
Type, calculate and export the motor drive signal of collaboration.
Preferably, the inserted computer calculates according to the running data and the traveling target data and exports association
Same motor drive signal, including：
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target packet
Include steering information, brake pedal information and the gas pedal information of driver's input；
The running data gathered according to the sensor subsystem and the wish path, calculate and export turning electricity
The control signal of machine driver, front-wheel motor driver and two brake actuators.
Preferably, the inserted computer calculates according to the running data and the traveling target data and exports association
Same motor drive signal, including：
The running data gathered according to the traveling target data and the sensor subsystem, calculates and exports turning
The control signal of motor driver, front-wheel motor driver and two brake actuators.
Preferably, the Motor drive subsystem controls corresponding according to each signal in the motor drive signal of collaboration
The torque output of motor, including：
The turning motors driver is turned according to the turning drive signal in the motor drive signal of the collaboration, control
The torque output of motor；
The front-wheel motor driver controls front-wheel according to the front-wheel drive signal in the motor drive signal of the collaboration
The torque output of motor；
Two brake actuators, for the brake drive signal in the motor drive signal according to the collaboration, control
The torque output of two brake motors of system.
Compared to prior art, the invention has the advantages that：
The invention provides a kind of two wheel single-track vehicles and its balance control method, the present invention in inserted computer according to
Running data and the traveling target data, after calculating and exporting the motor drive signal of collaboration, the Motor drive subsystem
Each signal in the motor drive signal of collaboration controls the torque output of corresponding motor so that two wheel single-track vehicles reach
Travelled to dynamic equilibrium and according to traveling target data schema.This method is not defined to the state of vehicle, i.e., vehicle without
By being to be in halted state, during mutual switching state between transport condition, or dead ship condition and transport condition, can
Ensure vehicle dynamic equilibrium traveling, solve the existing two wheel single-track vehicles for automatically controlling balance, in vehicle from dead ship condition
During to transport condition either from transport condition to dead ship condition, it is impossible to automatic the problem of keeping dynamic equilibrium.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of structural representation of two wheels single-track vehicle provided by the invention；
Fig. 2 is a kind of part-structure schematic diagram of two wheels single-track vehicle provided by the invention；
Fig. 3 is the method flow diagram for the method that a kind of inserted computer provided by the invention performs；
Fig. 4 is a kind of method flow diagram of the control method of two wheels single-track vehicle balance provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The embodiments of the invention provide one kind two to take turns single-track vehicle, wherein, two wheel single-track vehicles include but is not limited to voluntarily
The vehicle of two wheels such as car, motorcycle.In order to which those skilled in the art can more be apparent from two wheel single-track vehicles
Structure, in conjunction with Fig. 1 to a kind of two wheel single-track vehicles structure be introduced.It should be noted that two wheel single-track vehicles
Structure is not limited in the structure in Fig. 1, can also be other structures.In addition, trailing wheel there are also installed rear wheel drive electricity in Fig. 1
Machine, trailing wheel can not also install rear wheel drive motor.
In Fig. 1, two wheel single-track vehicles include：
Front-wheel 1, electronic display unit 2, turning motors 3, electronic steering wheel with front-wheel drive motor and brake actuators
4th, single-track vehicle vehicle body 5, radio antenna 6, inserted computer 7, inertial sensor 8, navigation module 9, communication module 10, after
Turns encoder 11, the trailing wheel 12 with rear wheel drive motor and brake actuators and preceding turns encoder 13.In addition to above-mentioned part, car
Also include electronic accelerator pedal, wherein, electronic accelerator pedal is not drawn in figure.
Wherein, front-wheel 1, electronic steering wheel 4, single-track vehicle vehicle body 5 and trailing wheel 12 constitute the overall architecture of vehicle body.Electronics
Steering wheel 4 is used for manual control vehicle heading, and front-wheel drive motor and rear wheel drive motor are used to drive vehicle to travel, stopped
Car driver is used to, in brake, make vehicle as early as possible stop, and turning motors 3 are used to, in Ackermann steer angle, drive turn inside diameter.
Electronic display unit 2 includes LCD display, LED image and LED lattice displays, is mainly used in showing that vehicle body rolls
The running datas such as angle, turning angle.Radio antenna 6 is used to launch or receive electromagnetic wave.
Inertial sensor 8 is used to measure vehicle body angular velocity vector and vehicle body acceleration vector, and preceding turns encoder 13 is used to survey
Measure Nose Wheel Steering angle, front-drive angle, Nose Wheel Steering angular speed and front-drive angular speed.Turns encoder 11 is used for after measuring afterwards
Take turns turning angle, rear wheel angle, trailing wheel turning rate and rear wheel angular speed.
Navigation module 9 is used for the navigation for realizing vehicle route, wherein, navigation module 9 can be GPS module.Communication module
10 be the module for being communicated with external equipment, and external equipment can be the equipment such as server.
Inserted computer 7 is the critical component for realizing vehicle balance, and the output control signal of inserted computer 7 is to turning motors
With front-wheel drive motor, in the process of moving, inserted computer 7 continuously adjusts rotation direction and the speed of turning motors to reach
The dynamic equilibrium of vehicle；Under halted state, inserted computer 7 instructs turning motors to cause vehicle to be fixed on big turning angle, so
Direction and the torque of front-wheel drive motor torque are persistently controlled afterwards, reach quasistatic balance.
It should be noted that two wheel single-track vehicles can have several type of drive.It is most common two wheel single-track vehicle be with
Rear wheel drive.Vehicle using petrol engine as power brings trailing wheel using power chain or rotating bar power, driving
Vehicle forward.Electronic single-track vehicle is usually using hub-type motor-driven vehicle trailing wheel.In the list of rugged mountain pass traveling
Rail vehicle can also take Two-wheeled, mitigate rear wheel drive vehicle and easily skid probability out of control.Use petrol engine
Two-wheeled single-track vehicle mechanical structure is more complicated, and it needs driving power being transported on the front-wheel with the system of turning.Generally
Method have the mechanics method and hydraulic system method of gear and chain.Electronic single-track vehicle can be with simpler two wheel drive
Method：Using two wheel hub motors of front and back wheel, fore-aft vehicle is driven.Single-track vehicle only can also be driven using front-wheel.Although
Front-wheel 1 and trailing wheel 2 carry motor in the present embodiment, belong to Two-wheeled mode, but controlling party provided by the invention
Method goes for controlling front-wheel drive, rear wheel drive and Two-wheeled these three drive patterns.
In addition, single-track vehicle is typically to utilize front-wheel steer.Single-track vehicle can also be rear-axle steering.This control method
It is equally applicable in the self balancing single-track vehicle control of front-wheel or rear-axle steering.
Turning motors 3 have been arranged on front-wheel in the present embodiment, in addition, turning motors 3 can also be arranged on trailing wheel, but
It is it should be noted that when the quantity of motor is one, it is preferable that turning motors and motor are arranged on one
On wheel, but turning motors and motor are not arranged on a wheel, can also realize the control method in the present invention, but
Be vehicle overall performance be not so good as turning motors and motor being arranged on a wheel it is first-class.
Two wheel single-track vehicles include electric bicycle and battery-operated motor cycle etc..Electric bicycle and battery-operated motor cycle are typically
By vehicle body, the front fork that can be turned to, front wheels and rear wheels composition.Vehicle is driven by the brushless electric machine on trailing wheel or front-wheel
It is dynamic.Turn inside diameter is to rotate handlebar by driver, drives front fork and front-wheel, changes the direction of advance of front-wheel.Computer control from
Dynamic balancing two takes turns single-track vehicle and utilizes sensor, including inertial sensor and optical encoder etc., the row of the wheel single-track vehicle of measurement two
Data are sailed, with reference to driver or pre-determined path locus, recycle non-linear dynamic model and nonlinear Control mould
Type, turning motors and front-wheel drive motor are controlled, drive front fork and front-wheel, reach the dynamic equilibrium of vehicle.
Reference picture 2, two wheels single-track vehicle provided by the invention include sensor subsystem 11, inserted computer 12 and motor
Drives subsystem 13.Sensor subsystem 11, inserted computer 12 and the wheel single-track vehicle of the composition of Motor drive subsystem 13 two are put down
The control system of weighing apparatus.
Wherein, Motor drive subsystem 13 include turning motors driver, front-wheel motor driver and installed in front-wheel and
Brake actuators on trailing wheel are formed.Wherein, turning motors driver is arranged on front-wheel.
Sensor subsystem 11 includes navigation module, preceding turns encoder, turning optical encoder and inertial sensor.
Inserted computer 12 is to be provided with the computer of control software, and control software is based on nonlinear kinetics and non-linear
The software of control method.
Specifically, sensor subsystem 11, for gathering the running data and traveling target data of two wheel single-track vehicles；
Inserted computer, for according to running data and traveling target data, calculating and exporting the motor driving letter of collaboration
Number；
Motor drive subsystem, corresponding motor is controlled for each signal in the motor drive signal according to collaboration
Torque exports so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
Specifically, running data includes：
Vehicle position information, car speed, Nose Wheel Steering angle, front-drive angle, Nose Wheel Steering angular speed, front-drive angle
Speed, wheel turning angle and attitude angle information.
Wherein, car speed is obtained by the navigation module measurement installed on vehicle.Navigation module can be GPS module,
Can also be other modules.
Nose Wheel Steering angle, front-drive angle, Nose Wheel Steering angular speed and front-drive angular speed are surveyed by preceding turns encoder
Measure, preceding turns encoder can be front-wheel optical encoder.It should be noted that trailing wheel is also provided with rear turns encoder, set
The effect of turns encoder is that measurement obtains trailing wheel turning angle, rear wheel angle, trailing wheel turning rate and rear wheel angle speed afterwards
Degree, the data of rear turns encoder measurement are in order to which whether turns encoder measurement obtains before verifying data are correct, in order to avoid front-wheel is compiled
When code device breaks down, measurement data error.
Wheel turning angle is obtained by turning optical encoder measurement, and turning optical encoder can also measure to obtain wheel turning
Angular speed.
Attitude angle information refers to the yaw angle of vehicle, vehicle body roll angle and the angle of pitch.Specifically, inertial sensor measures car
Body angular velocity vector and vehicle body acceleration vector, vehicle body angular velocity vector include yaw rate component, rate of roll component
With rate of pitch component, vehicle body acceleration component includes driftage component of angular acceleration, angular acceleration in roll component and the angle of pitch
Component of acceleration, the yaw angle of vehicle, roll angle are then calculated according to vehicle body angular velocity vector and vehicle body acceleration vector
And the angle of pitch.
Vehicle position information is the positional information that is obtained by navigation module measurement and according to vehicle body angular velocity vector and car
The positional information that body vector acceleration is calculated, integrated obtained information.
Optionally, on the basis of the present embodiment, inserted computer is used for according to running data and traveling target data, meter
When calculating and exporting the motor drive signal of collaboration, it is specifically used for：
According to running data and traveling target data, based on non-linear dynamic model and Nonlinear Control Model, calculate
And export the motor drive signal of collaboration.
Wherein, the motor drive signal of collaboration includes front-wheel drive signal, brake drive signal and turning drive signal.
Optionally, on the basis of the present embodiment, Motor drive subsystem is used in the motor drive signal according to collaboration
Each signal when controlling the torque output of corresponding motor, be specifically used for：
Turning motors driver controls the power of turning motors according to the turning drive signal in the motor drive signal of collaboration
Square exports；
Front-wheel motor driver controls front-wheel drive motor according to the front-wheel drive signal in the motor drive signal of collaboration
Torque output；
Two brake actuators, for the brake drive signal in the motor drive signal according to collaboration, control two brakes
The torque output of vehicle motor.
In the present embodiment, inserted computer calculates according to running data and traveling target data and exports the motor of collaboration
After drive signal, Motor drive subsystem controls the power of corresponding motor according to each signal in the motor drive signal of collaboration
Square exports so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.This method is not to car
State be defined, i.e., vehicle be either in halted state, transport condition, or dead ship condition and transport condition it
Between mutual switching state when, can ensure vehicle dynamic equilibrium travel, solve existing two wheels for automatically controlling balance
Single-track vehicle, in vehicle from dead ship condition to transport condition or during from transport condition to dead ship condition, it is impossible to automatic to keep
The problem of dynamic equilibrium.
It is existing in order to which those skilled in the art can further understand non-linear dynamic model and Nonlinear Control Model
Non-linear dynamic model and Nonlinear Control Model are explained.
Specifically, bicycle and have ignored front fork spring, the motorcycle of rear wheel shock-absorbing meets the non-linear of three degree of freedom
Underactuated manipulator equation：
Wherein, q is vehicle-state vector, and M is 3x3 mass matrixes, and C is 3x3 Coriolis/centrifugal force item, and G is gravity
, K is moment coupling matrix, and τ is the moment vector of front-wheel drive motor, brake motor and turning motors.Their expression formula
For：
Vehicle-state is by q=(q1, q2, q3)TRepresent, they are vehicle body roll angle, wheel turning angle and front-drive respectively
Angle.Matrix M, C, G, K matrix element are the known analytical functions of vehicle body roll angle and wheel turning angle.They also and vehicle it is several
What, τ=(τ relevant with kinetic parameter1, τ2, τ3)TRespectively front-wheel drive and brake torque, turning motors torque, trailing wheel is driven
Dynamic and brake torque.
Due to the first behavior 0 of K matrix, torque τ rolls angle equation to vehicle body does not have any influence, so vehicle body rolls
Angle is drive lacking.Nonlinear dynamical equation (1) is applied to any front-wheel steer, front-wheel or rear wheel drive, and front and rear
Two wheel single-track vehicles of wheel driving simultaneously.It is practically applicable in traveling or the vehicle in dead ship condition simultaneously.Because front-wheel
Angular speedCan be positive or bear, it is also in either retrogressing of advancing without limitation vehicle.Two wheel gyrocars
It is a under-actuated systems.In the three degree of freedom of vehicle, only wheel turning angle and two, the front-drive angle free degree is
Active control.Vehicle body roll angle, also chauffeur body inclination angle, is no driving mechanism.Nonlinear Underactuated System controlling party
Method has a lot, most important NONLINEAR OPTIMAL CONTROL (Nonlinear Optimal Control), Partial feedback linearization
(partial feedback linearization), ANN Control (Neural Network Control), based on energy
The control (Energy Based Control) of amount and sliding formwork control (Sliding Mode Control).Most of modern scientist
Method needs accurate dynamics of vehicle modeling.
Here we illustrate the method for the present invention using NONLINEAR OPTIMAL CONTROL.NONLINEAR OPTIMAL CONTROL is last century
The control method of 60-70 age matures, it is used for rocket flight earliest and controls.Provide the cost function (cost of system
Function), NONLINEAR OPTIMAL CONTROL calculates the passage of optimum control amount u* (t) and state x* (t) with the time, meet it is non-
Under the constraint of linear dynamics equation (1) so that cost function is minimum：
Wherein, J is system cost.x(t0) it is state of the vehicle in start position, x (tf) for vehicle at final position
State, t0For starting time, tfFor terminal time.Wherein, state refers to running data.
And meet that single order kinetics equation constrains
Path constraint
P [x (t), u (t), t] >=0, (7)
Wherein, function P delegated paths constraint function.
Constrained with side condition
b[x(t0), t0, x (tf), tf=0. (8)
Wherein, function b representative edges constraint function.
Using iterative numerical approach, the solution of nonlinear equation can be calculated：Optimum control amount u* (t), it is exactly the system
Front-wheel drive and brake torque, turning motors torque, rear wheel drive and brake torque.Vehicle-state x* (t), it is exactly vehicle position
Put, vehicle body roll angle, wheel turning angle, front-drive angle are respectively with the function of time：
U=u* (t) (9)
X=x* (t) (10)
Current efficient numerical method has pseudo- spectral method (pseudospectrum) to solve NONLINEAR OPTIMAL CONTROL.It is non-
The solution of linear optimal contro8 and current vehicle location, vehicle body roll angle, wheel turning angle, front-drive angle are relevant, also and car
Need the position, vehicle body roll angle, wheel turning angle, the front-drive angle that reach relevant.Method for optimally controlling is according to vehicle
Current state and the requirement of user, calculate the optimum control amount (9) of vehicle and the optimum state (10) of vehicle.This process
Feedforward.It does not feed back.
Actually the modeling error of vehicle, outside disturbance and the change of vehicle parameter can all make it that vehicle shift is optimal
State.The present invention devises linear feedback system, eliminates error and disturbance, adds the stability of system.Assuming that in t,
The actual state of vehicle is x (t), and the difference of it and optimum control state is dx：
Dx (t)=x (t)-x8(t). (11)
Usual vehicle-state and the vehicle-state difference very little of optimum control, dx are a small amount of, optimum control amount amendment du
It is a small amount of.It can prove that dx and du meet liner quadratic regulator：
Wherein, Q, R are weight factor, are definite value, S (f) it is end-condition, as position, vehicle body roll angle, wheel are turned
Angle, front-drive angle etc..
Kinetics equation constraint and being linearly extended and moved from one place to another out near optimal control solution：
A, B matrixes are nonlinear dynamical equation in optimal solution x8(t) Taylor expansion nearby.Optimum feedback control and car
State is relevant：
Du (t)=- K (t) dx (t)
Wherein K matrix is feedback matrix, K (t)=R-1BTS (t), S (t) are differential Riccati equation (differential
Riccati equation) solution：
Riccati equation is from following solution to current time, so its initial condition was determined in the final time：
S(tf)=Sf (15)
Pass through above-mentioned calculating, it is possible to calculate optimum control amount u* (t), be exactly the front-wheel drive and brake weight of the system
Square, turning motors torque and rear wheel drive and brake torque, pass through front-wheel drive and brake torque, turning motors torque and trailing wheel
Driving and brake torque are controlled to vehicle.
So, control system can refuse the deviations such as disturbance, make Vehicular system stable, while expection reaches what user specified
Position.
The present invention can be used for realizing the automatic Pilot of two wheel single-track vehicles.It can also realize that gyrocar is taken turns in pilot steering two
.Under automatic driving mode, the track of vehicle be by navigation module, what camera and communication module determined, wherein, navigate mould
The part that block, camera and communication module belong in sensor subsystem.And under pilot steering pattern, the track of vehicle
Then determined by driver.Driver can use electronic steering wheel, electric brake pedal and electronic accelerator pedal input desired
Vehicle heading and speed, input and measurement value sensor of the inserted computer according to driver, calculate the track of vehicle
Exported with control, control motor and turning motors, under single-track vehicle traveling and halted state, reach the balance of vehicle.
It should be noted that of the invention and currently used single-track vehicle control method has the difference of essence：
The control method of prior art limits some frees degree, calculates number control signal.The present invention uses dynamics
And modern control method, in the case of any free degree of vehicle is not limited, calculate Collaborative Control output.The control of the system
Signal u* (t) and du (t), while the control signal with front-wheel drive motor and brake, also the control letter with turning motors
Number, the control signal of rear wheel drive motor and brake.These signals are simultaneously coefficient so that vehicle balance stably reaches
The state and destination that user needs.
Optionally, on the basis of any of the above-described embodiment, inserted computer is used for according to running data and traveling target
Data, when calculating and exporting the motor drive signal of collaboration, it is specifically used for：
S11, according to traveling target data, the wish path of driver is calculated；
Wherein, traveling target data include steering information, brake pedal information and the gas pedal letter of driver's input
Breath.
Specifically, according to steering information, brake pedal information and gas pedal information, inserted computer can deduce
The wish path of the driver of vehicle, i.e., it can deduce next traveling-position of user.Wherein, wish path can be next
The path that 10s is travelled.
The present embodiment is applied to pilot steering two and takes turns single-track vehicle, during pilot steering, people labour union control electric brake pedal,
Electronic accelerator pedal and electronic steering wheel.Inserted computer can receive the electric brake pedal being manually entered depth value,
The depth value of electronic accelerator pedal and the rotational value of electronic steering wheel.
S12, the running data gathered according to sensor subsystem and wish path, calculate and export turning motors drive
The control signal of dynamic device, front-wheel motor driver and two brake actuators.
Specifically, running data and wish path are updated to non-linear dynamic model and Nonlinear Control Model,
The control signal of turning motors driver, front-wheel motor driver and two brake actuators can be calculated, further, it is also possible to
Vehicle body roll angle, vehicle body yaw angle, the curve changed over time at Nose Wheel Steering angle are calculated, wherein, turning motors driver,
The control signal of front-wheel motor driver and two brake actuators is also the curve changed over time.
Wherein, in the present embodiment, wish path is the wish path in next preset time of current time, its
In, preset time can be 10s, specifically, assuming that vehicle drives to destination B from starting point A, now, if calculated whole
The wish path of individual distance, because vehicle can be potentially encountered the barriers such as stone or other road conditions in entirely traveling distance,
And then result in vehicle and can not be travelled according to wish path, the wish path now obtained is just no longer significant, it is necessary to weight
New wish path is newly calculated, so the wish path for calculating whole distance is worthless, therefore, the present embodiment is adopted
With the wish path for only calculating 10s, when this 10s wish path has been walked, then next 10s wish path is calculated.
It should be noted that turning motors driver, front-wheel motor driver and two brake actuators are calculated
After control signal, because actual motion state and the traveling target data of vehicle have gap, in traveling target data
Turning angle is 30 degree, and the turning angle in the actual motion status information of vehicle is 28 degree, due to the number in traveling target data
Value is optimal transport condition of the vehicle in the case where keeping balancing, that is, needs to be modified the running data of two wheel single-track vehicles.
Specific makeover process includes：
1) wish path and running data are substituted into default trajector deviation correction formula, the turning electricity of vehicle is calculated
The control signal correction value of machine driver, front-wheel motor driver and two brake actuators.
Specifically, wish path and running data are substituted into default trajector deviation correction formula, wherein, trajector deviation is repaiied
Positive formula is above-mentioned formula 11-15, with reference to trajector deviation correction formula, non-linear dynamic model and nonlinear Control mould
Type, it is possible to repaiied to the control signal that turning motors driver, front-wheel motor driver and two brake actuators is calculated
On the occasion of.
It should be noted that, although be controlled according to wish path, but because vehicle is influenceed by external environment,
It situations such as such as running into stone barrier, or running into strong wind, can change the transport condition of vehicle, and then need to vehicle
Transport condition is modified.
2) according to the control signal correction value of turning motors driver, front-wheel motor driver and two brake actuators,
The output signal of turning motors driver, front-wheel motor driver and two brake actuators is adjusted, so that vehicle is according to wish
Path dynamic equilibrium traveling.
After obtaining the control signal correction value of turning motors driver, front-wheel motor driver and two brake actuators,
Corresponding control signal is arrived into the output signal regulation of turning motors driver, front-wheel motor driver and two brake actuators
Correction value, i.e., it can realize and travel vehicle according to the dynamic equilibrium of traveling target data.
In the present embodiment, there is provided the control mode of single-track vehicle is taken turns in a kind of pilot steering two, and then can be according to we
Formula is controlled to two wheel single-track vehicles, to reach dynamic equilibrium.
Optionally, on the basis of embodiment corresponding to Fig. 2, inserted computer is used for according to running data and traveling target
Data, when calculating and exporting the motor drive signal of collaboration, it is specifically used for：
The running data gathered according to traveling target data and sensor subsystem, calculate and export turning motors driving
The control signal of device, front-wheel motor driver and two brake actuators.
Specifically, the present invention, which is not only suitable for automatic Pilot two, takes turns single-track vehicle, it is also applied for pilot steering two and takes turns gyrocar
.What is introduced in the present embodiment is to apply the present invention to automatic Pilot two to take turns single-track vehicle.
Traveling target data are external equipment inputs, wherein, traveling target data can be the row of 10s stretch journey
Sail target data.
Then, the running data that traveling target data and sensor subsystem gather is updated to nonlinear kinetics mould
In type and Nonlinear Control Model, turning motors driver, front-wheel motor driver and two brake actuators are calculated
Control signal.Further, it is also possible to vehicle body roll angle, vehicle body yaw angle, the change curve at Nose Wheel Steering angle are calculated, wherein, turn
The control signal of curved motor driver, front-wheel motor driver and two brake actuators is also the curve of change.
It should be noted that in the present embodiment, it is also desirable to turning motors driver, front-wheel motor driver and two brakes
The control signal of car driver is modified, and specific makeover process takes turns the makeover process in single-track vehicle with reference to pilot steering two,
It will not be repeated here.
In the present embodiment, there is provided a kind of automatic Pilot two takes turns the control mode of single-track vehicle, and then can be according to we
Formula is controlled to two wheel single-track vehicles, to reach dynamic equilibrium.
In the present invention, for vehicle when non-zero speed travels, this control system strengthens turn inside diameter motor torque τ automatically2's
Control so that front-wheel or trailing wheel wheel turning angle can effectively adjust vehicle body center of gravity with respect to front and back wheel lateral attitude.Just
Often during traveling, it is possible to achieve effectively realize the stable equilibrium of vehicle.
Vehicle be in low velocity either it is slack when, vehicle front-wheel or trailing wheel wheel turning angle can not adjust car
Center of gravity relative position.But during rear wheel drive, under fixed big wheel turning angle, movable vehicle can adjust vehicle
Relative position of the center of gravity equivalent to wheel supporting point.The control system of the present invention strengthens the driving electricity to front-wheel or trailing wheel automatically
Machine Torque Control, the front-wheel and/or rear wheel drive motor torque τ of regulation1, τ3Realize the stable equilibrium of vehicle.Usual vehicle be
Under big wheel turning angle (for example more than+- 45 degree, even+- 90 spending), vehicle front-wheel or rear wheel drive motor are quick front and rear micro-
The position of minor adjustment vehicle.If the single-track vehicle of front-wheel steer, in front-wheel drive motor torque τ1Control under, vehicle can
To reach stable equilibrium.The non-linear dynamic model of the present invention, which calculates, to be shown, when wheel turning angle is equal to 90 degree, K33=0.
Because wheel turning angle, at 90 degree, if front-wheel is non-slip, trailing wheel can not drive vehicle to advance, thus can not use
To control the balance of vehicle.No matter controlling vehicle balance using front-wheel or trailing wheel, inserted computer must can instruct drive
Dynamic motor forward and reverse is switched fast.This instruction is that do not have in the single-track vehicle of non-zero speed traveling automatically controls
's.If vehicle is front-wheel drive or front and back wheel while driven that static balancing can be with more efficient：The automatic of computer control is put down
Balance system can be fixed on wheel turning angle 90 degree either -90 degree, the information and control algolithm measured according to sensor, soon
Velocity modulation section front-wheel drive motor so that vehicle body do it is small move left and right, reach self balancing purpose.
When vehicle start either stops, control method of the invention smoothly switches in two control models.Peace
The inserted computer of Nonlinear Control Model is filled, as long as steering motor can be controlled, it is possible to when vehicle travels, keep vehicle
Balance.Meanwhile as long as the motor on front-wheel, or trailing wheel can be controlled, it is possible in the state that vehicle stops
The lower stable equilibrium for keeping vehicle.Even in external disturbance, such as the either artificial promotion vehicle of fitful wind, deviate equilibrium-like
Under state, inserted computer can still adjust vehicle traction motor, correct the vehicle body roll angle of vehicle, vehicle is taken to equilibrium-like
Under state.
In order to it will be apparent to those skilled in that clear understanding is of the invention, now with pilot steering and automatic driving vehicle two
Individual example is explained.
(1) single-track vehicle is taken turns in pilot steering two
The two wheel single-track vehicles that the present embodiment provides, mainly there is 7 parts：The vehicle body of plagioclase, before vehicle body
The front-wheel with steering motor in portion, the trailing wheel that the drive installed in car rear portion drives, multiple sensors (including optical encoder and
Inertial sensor), electronic recorder, the inserted computer with control software, and control steering motor, the output structure of motor
Into.Vehicle body can be band door, the fully closed unit of seat, and driver electronic control input and display car in vehicle body
The electronic display unit of actual travel status information.
Driver can add vehicle interior, after sitting down on the seat, start control system.Inserted computer starts
Afterwards, sensor starts the running data of collection vehicle, and driver steps on electronic accelerator pedal, and inserted computer is defeated according to driver
The throttle and steering wheel data entered, calculates the control signal of front-wheel drive motor and turning motors, the torque of command motor and
Rotation direction, while balancing vehicle, reach the car speed and vehicle heading of driver's needs.Inserted computer is held
The continuous running data gathered using sensor and the input signal of driver, repeat to correct state and position that vehicle needs to reach
Put, the continuous torque for adjusting turning motors, allow vehicle stabilization to travel.
When driver steps on electric brake pedal, inserted computer upgrades in time the state of vehicle, utilizes Nonlinear Dynamic
Mechanical model and Nonlinear Control Model, optimal front and back wheel brake torque, and steering motor torque are calculated, keeping vehicle
Under conditions of balance, safe and efficient attenuating car speed.When speed reduces to a threshold value, inserted computer automatically switches
To quasistatic control model, in the case where fixing a non-zero wheel turning angle, loosen electric brake, regulation front-wheel drive motor
Torque and rotation direction, reach quasistatic balance.This control method is applied to temporarily parking.
After driver steps on electronic accelerator pedal, the state of inserted computer more new vehicle, steering motor is adjusted, no longer
The direction of driving moment is adjusted, increases the positive torque of motor, driving vehicle advances.
Driver by electronics LCD display, can understand the transport condition of vehicle.Vehicle is controlled using electronic steering wheel
Direction, utilize electric brake pedal and efp control vehicle speed.
(2) automatic Pilot two takes turns single-track vehicle
Robot automatic Pilot two can be used to take turns single-track vehicle.The control system of vehicle balance mainly forms portion by 8
Point：The vehicle body of plagioclase, installed in the front-wheel with steering motor and motor of body forward structure, installed in car rear portion without driving
The trailing wheel of dynamic motor, communication module, navigation module, multiple sensors (including optical encoder, inertial sensor and video acquisition pass
Sensor), electronic recorder, the inserted computer with control software, and control steering motor, the output composition of motor.Tiltedly
Long vehicle body can transport personnel or goods.
Automatic Pilot single-track vehicle, information is inputted according to user, or distal end automatic Pilot server passes through the mould that communicates
The destination and routing information that block is sent, cook up optimal path, and vehicle sensors measure the running data of vehicle, embedded-type electric
Brain calculates the control signal of turning motors and front-wheel drive motor, instruction vehicle operation.Video acquisition sensor provides road conditions
3D real time information, moment find the obstacle information on path planning.Inserted computer plans road again according to these information
Footpath, or order vehicle are out of service, and communication module sends vehicle and traffic information gives distal end automatic Pilot server.Work as video
Collection sensor detects barrier and disappeared, and inserted computer restarts vehicle again, drives towards destination.
Optionally, a kind of control method of two wheels single-track vehicle balance, application are provided in another embodiment of the present invention
In two take turns single-track vehicles, reference picture 4, including：
S21, the wheel single-track vehicle of sensor subsystem collection two running data and traveling target data；
S22, inserted computer calculate according to running data and traveling target data and export the motor driving letter of collaboration
Number；
S23, Motor drive subsystem control corresponding motor according to each signal in the motor drive signal of collaboration
Torque exports so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
Optionally, on the basis of the present embodiment, inserted computer calculates simultaneously according to running data and traveling target data
The motor drive signal of collaboration is exported, including：
According to running data and traveling target data, based on non-linear dynamic model and Nonlinear Control Model, calculate
And export the motor drive signal of collaboration.
Optionally, on the basis of the present embodiment, Motor drive subsystem is according to every in the motor drive signal of collaboration
Individual signal controls the torque output of corresponding motor, including：
Turning motors driver controls the power of turning motors according to the turning drive signal in the motor drive signal of collaboration
Square exports；
Front-wheel motor driver controls front-wheel drive motor according to the front-wheel drive signal in the motor drive signal of collaboration
Torque output；
Two brake actuators, for the brake drive signal in the motor drive signal according to collaboration, control two brakes
The torque output of vehicle motor.
In the present embodiment, inserted computer calculates according to running data and traveling target data and exports the motor of collaboration
After drive signal, Motor drive subsystem controls the power of corresponding motor according to each signal in the motor drive signal of collaboration
Square exports so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.This method is not to car
State be defined, i.e., vehicle be either in halted state, transport condition, or dead ship condition and transport condition it
Between mutual switching state when, can ensure vehicle dynamic equilibrium travel, solve existing two wheels for automatically controlling balance
Single-track vehicle, in vehicle from dead ship condition to transport condition or during from transport condition to dead ship condition, it is impossible to automatic to keep
The problem of dynamic equilibrium.
It should be noted that the specific explanations explanation of the step in the present embodiment, refer to corresponding in above-described embodiment
Explanation.
Optionally, on the basis of the embodiment of any of the above-described control method, inserted computer is according to running data and row
Target data is sailed, calculates and exports the motor drive signal of collaboration, including：
According to traveling target data, the wish path of driver is calculated；Wherein, traveling target data include driver
Steering information, brake pedal information and the gas pedal information of input；
The running data gathered according to sensor subsystem and wish path, calculate and export turning motors driver,
The control signal of front-wheel motor driver and two brake actuators.
In the present embodiment, there is provided the control mode of single-track vehicle is taken turns in a kind of pilot steering two, and then can be according to we
Formula is controlled to two wheel single-track vehicles, to reach dynamic equilibrium.
It should be noted that the specific explanations explanation of the step in the present embodiment, refer to corresponding in above-described embodiment
Explanation.
Optionally, on the basis of embodiment corresponding to above-mentioned Fig. 4, inserted computer is according to running data and traveling target
Data, calculate and export the motor drive signal of collaboration, including：
According to the running data with traveling target data and sensor subsystem collection, calculate and export turning motors drive
The control signal of dynamic device, front-wheel motor driver and two brake actuators.
In the present embodiment, there is provided a kind of automatic Pilot two takes turns the control mode of single-track vehicle, and then can be according to we
Formula is controlled to two wheel single-track vehicles, to reach dynamic equilibrium.
It should be noted that the specific explanations explanation of the step in the present embodiment, refer to corresponding in above-described embodiment
Explanation.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. one kind two takes turns single-track vehicle, it is characterised in that including sensor subsystem, inserted computer and motor drive system
System；Wherein, the Motor drive subsystem includes turning motors driver, front-wheel motor driver and installed in front wheels and rear wheels
On brake actuators form；
The sensor subsystem, for gathering the running data and traveling target data of two wheel single-track vehicles；
The inserted computer, for according to the running data and the traveling target data, calculating and exporting the electricity of collaboration
Machine drive signal；
The Motor drive subsystem, corresponding motor is controlled for each signal in the motor drive signal according to collaboration
Torque exports so that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
2. two wheels single-track vehicle according to claim 1, it is characterised in that the inserted computer is used for according to the row
Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for：
According to the running data and the traveling target data, based on non-linear dynamic model and Nonlinear Control Model,
Calculate and export the motor drive signal of collaboration.
3. two wheels single-track vehicle according to claim 1, it is characterised in that the inserted computer is used for according to the row
Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for：
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data include driving
Sail steering information, brake pedal information and the gas pedal information of people's input；
The running data gathered according to the sensor subsystem and the wish path, calculate and export turning motors drive
The control signal of dynamic device, front-wheel motor driver and two brake actuators.
4. two wheels single-track vehicle according to claim 1, it is characterised in that the inserted computer is used for according to the row
Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for：
The running data gathered according to the traveling target data and the sensor subsystem, calculates and exports turning motors
The control signal of driver, front-wheel motor driver and two brake actuators.
5. two wheels single-track vehicle according to claim 1, it is characterised in that the Motor drive subsystem is used for according to association
When each signal in same motor drive signal controls the torque output of corresponding motor, it is specifically used for：
The turning motors driver controls turning motors according to the turning drive signal in the motor drive signal of the collaboration
Torque output；
The front-wheel motor driver controls front-wheel drive according to the front-wheel drive signal in the motor drive signal of the collaboration
The torque output of motor；
Two brake actuators, for the brake drive signal in the motor drive signal according to the collaboration, control two
The torque output of individual brake motor.
A kind of 6. control method of two wheels single-track vehicle balance, it is characterised in that applied to two wheel single-track vehicles, including：
The running data and traveling target data of the wheel single-track vehicle of sensor subsystem collection two；
Inserted computer calculates according to the running data and the traveling target data and exports the motor driving letter of collaboration
Number；
Motor drive subsystem controls the torque of corresponding motor to export according to each signal in the motor drive signal of collaboration,
So that two wheel single-track vehicles reach dynamic equilibrium and travelled according to traveling target data schema.
7. control method according to claim 6, it is characterised in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, including：
According to the running data and the traveling target data, based on non-linear dynamic model and Nonlinear Control Model,
Calculate and export the motor drive signal of collaboration.
8. control method according to claim 6, it is characterised in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, including：
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data include driving
Sail steering information, brake pedal information and the gas pedal information of people's input；
The running data gathered according to the sensor subsystem and the wish path, calculate and export turning motors drive
The control signal of dynamic device, front-wheel motor driver and two brake actuators.
9. control method according to claim 6, it is characterised in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, including：
The running data gathered according to the traveling target data and the sensor subsystem, calculates and exports turning motors
The control signal of driver, front-wheel motor driver and two brake actuators.
10. control method according to claim 6, it is characterised in that the Motor drive subsystem is according to the electricity of collaboration
Each signal in machine drive signal controls the torque output of corresponding motor, including：
The turning motors driver controls turning motors according to the turning drive signal in the motor drive signal of the collaboration
Torque output；
The front-wheel motor driver controls front-wheel drive according to the front-wheel drive signal in the motor drive signal of the collaboration
The torque output of motor；
Two brake actuators, for the brake drive signal in the motor drive signal according to the collaboration, control two
The torque output of individual brake motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710810932.6A CN107600267B (en) | 2017-09-11 | 2017-09-11 | A kind of two take turns the control method of single-track vehicle and its balance |
| PCT/CN2018/081275 WO2019047509A1 (en) | 2017-09-11 | 2018-03-30 | Two-wheel monorail vehicle and balance control method therefor |
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| CN201710810932.6A CN107600267B (en) | 2017-09-11 | 2017-09-11 | A kind of two take turns the control method of single-track vehicle and its balance |
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| WO2019047509A1 (en) * | 2017-09-11 | 2019-03-14 | 广东工业大学 | Two-wheel monorail vehicle and balance control method therefor |
| CN112061279A (en) * | 2018-12-29 | 2020-12-11 | 魏奕帆 | Method for realizing safety control of electric vehicle |
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| CN113778080A (en) * | 2021-08-09 | 2021-12-10 | 清华大学 | Control method and device for single-track two-wheeled robot, electronic equipment and storage medium |
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| US11884287B2 (en) * | 2021-08-19 | 2024-01-30 | Ford Global Technologies, Llc | Enhanced vehicle operation |
| CN115285085A (en) * | 2022-08-31 | 2022-11-04 | 苏州海之博电子科技有限公司 | Vehicle brake pedal feeling adjusting method |
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| CN107600267B (en) | 2019-11-08 |
| WO2019047509A1 (en) | 2019-03-14 |
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