CN107600267B - A kind of two take turns the control method of single-track vehicle and its balance - Google Patents
A kind of two take turns the control method of single-track vehicle and its balance Download PDFInfo
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- CN107600267B CN107600267B CN201710810932.6A CN201710810932A CN107600267B CN 107600267 B CN107600267 B CN 107600267B CN 201710810932 A CN201710810932 A CN 201710810932A CN 107600267 B CN107600267 B CN 107600267B
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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
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Abstract
The present invention provides the control methods that one kind two takes turns single-track vehicle and its balance, inserted computer is according to the running data and traveling target data in the present invention, after the motor drive signal for calculating and exporting collaboration, the Motor drive subsystem is exported according to the torque that each signal in the motor drive signal of collaboration controls corresponding motor, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema.This method is not defined the state of vehicle, i.e. vehicle is either in halted state, driving status, either mutual switching state between dead ship condition and driving status when, it can guarantee that vehicle dynamic equilibrium travels, solve the existing two wheel single-track vehicles for automatically controlling balance, the problem of vehicle is from dead ship condition to driving status or when from driving status to dead ship condition, cannot automatically keep dynamic equilibrium.
Description
Technical field
The present invention relates to two wheel single-track vehicle control fields, take turns single-track vehicle more specifically, being related to one kind two and its put down
The control method of weighing apparatus.
Background technique
Two wheel single-track vehicles, such as: electric bicycle and motorcycle, with high energy conservation, low emission and low spatial occupancy, more
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 guarantee the dynamic equilibrium of two wheel single-track vehicles, proposes automatic
Two wheel single-track vehicles of control balance automatically control the controller on two wheel single-track vehicles of balance 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 two wheel single-track vehicle of control, 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 only be adjusted in the case where non-zero speed
The relative position of vehicle body center of gravity and wheel supporting point is saved, so the existing two wheel single-track vehicles for automatically controlling balance, in vehicle
From dead ship condition to driving status or when from driving status to dead ship condition, dynamic equilibrium cannot be automatically kept.
Summary of the invention
In view of this, the present invention provides the control methods that one kind two takes turns single-track vehicle and its balance, with solve it is existing from
Two wheel single-track vehicles of dynamic control balance, in vehicle from dead ship condition to driving status or from driving status to dead ship condition
When, the problem of dynamic equilibrium cannot be automatically kept.
In order to solve the above technical problems, present invention employs following technical solutions:
One kind two takes turns single-track vehicle, including sensor subsystem, inserted computer and Motor drive subsystem；Wherein, institute
Stating Motor drive subsystem includes that turning motors driver, front-wheel motor driver and the brake being mounted in front wheels and rear wheels are driven
Dynamic device is constituted；
The sensor subsystem, for acquiring the running data and traveling target data of two wheel single-track vehicles；
The inserted computer, for calculating and exporting collaboration according to the running data and the traveling target data
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 of machine exports, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema.
Preferably, the inserted computer is used to be calculated and defeated according to the running data and the traveling target data
When the motor drive signal cooperateed with out, it is specifically used for:
According to the running data and the traveling target data, it is based on non-linear dynamic model and nonlinear Control mould
Type calculates and exports the motor drive signal of collaboration.
Preferably, the inserted computer is used to be calculated and defeated according to the running data and the traveling target data
When the motor drive signal cooperateed with out, it is specifically used for:
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data packet
Include steering information, brake pedal information and the gas pedal information of driver's input；
According to the running data of sensor subsystem acquisition and the wish path, calculates 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 be calculated and defeated according to the running data and the traveling target data
When the motor drive signal cooperateed with out, it is specifically used for:
According to the running data that the traveling target data and the sensor subsystem acquire, calculates and export turning
The control signal of motor driver, front-wheel motor driver and two brake actuators.
Preferably, the Motor drive subsystem is used to control phase according to each signal in the motor drive signal of collaboration
When the torque output for the motor answered, it is specifically used for:
The turning motors driver is according to the turning driving signal in the motor drive signal of the collaboration, control turning
The torque of motor exports；
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 of driving motor exports；
Two brake actuators, for the brake driving signal in the motor drive signal according to the collaboration, control
Make the torque output of two brake motors.
A kind of control method of two wheels single-track vehicle balance, is applied to two wheel single-track vehicles, comprising:
The running data and traveling target data of two wheel single-track vehicle of sensor subsystem acquisition；
Inserted computer calculates and exports the motor driven of collaboration according to the running data and the traveling target data
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 travel 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, comprising:
According to the running data and the traveling target data, it is based on non-linear dynamic model and nonlinear Control mould
Type calculates and exports 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, comprising:
According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data packet
Include steering information, brake pedal information and the gas pedal information of driver's input；
According to the running data of sensor subsystem acquisition and the wish path, calculates 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, comprising:
According to the running data that the traveling target data and the sensor subsystem acquire, calculates and export 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 of motor exports, comprising:
The turning motors driver is according to the turning driving signal in the motor drive signal of the collaboration, control turning
The torque of motor exports；
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 of driving motor exports；
Two brake actuators, for the brake driving signal in the motor drive signal according to the collaboration, control
Make the torque output of two brake motors.
Compared to the prior art, the invention has the following advantages:
The present invention provides the control method that one kind two takes turns single-track vehicle and its balance, in the present invention inserted computer according to
The running data and traveling target data, after the motor drive signal for calculating and exporting collaboration, the Motor drive subsystem
The torque output of corresponding motor is controlled according to each signal in the motor drive signal of collaboration, so that two wheel single-track vehicles reach
It is travelled to dynamic equilibrium and according to traveling target data schema.This method is not defined the state of vehicle, i.e., vehicle without
When by being the mutual switching state in halted state, between driving status or dead ship condition and driving status, can
Guarantee vehicle dynamic equilibrium traveling, solves the existing two wheel single-track vehicles for automatically controlling balance, in vehicle from dead ship condition
To driving status either from driving status to dead ship condition when, the problem of dynamic equilibrium cannot be automatically kept.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of two wheels single-track vehicle provided by the invention；
Fig. 2 is a kind of partial structure 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 executes；
Fig. 4 is a kind of method flow diagram of the control method of two wheels single-track vehicle balance provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention provides 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 vehicle, motorcycle.In order to which those skilled in the art can more be apparent from two wheel single-track vehicles
Structure, now in conjunction with Fig. 1 to one kind two take turns single-track vehicle 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, there are also installed rear wheel drive electricity for rear-wheel in Fig. 1
Machine, rear-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
4, 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 rear-wheel 12 with rear wheel drive motor and brake actuators and preceding turns encoder 13.Other than above-mentioned component, vehicle
It further include electronic accelerator pedal, wherein electronic accelerator pedal is not drawn in the figure.
Wherein, front-wheel 1, electronic steering wheel 4, single-track vehicle vehicle body 5 and rear-wheel 12 constitute the overall architecture of vehicle body.Electronics
Steering wheel 4 is used for manual control vehicle heading, front-wheel drive motor and rear wheel drive motor for driving vehicle driving, stops
Vehicle driver is used to make vehicle stop as early as possible in brake, and turning motors 3 are used to drive vehicle turning in Ackermann steer angle.
Electronic display unit 2 includes LCD display, LED image and LED lattice display, is mainly used for showing that vehicle body rolls
The running datas such as angle, turning angle.Radio antenna 6 is for emitting or receiving electromagnetic wave.
Inertial sensor 8 is for measuring vehicle body angular velocity vector and vehicle body acceleration vector, and preceding turns encoder 13 is for surveying
Measure Nose Wheel Steering angle, front-drive angle, Nose Wheel Steering angular speed and front-drive angular speed.After turns encoder 11 is for measuring afterwards
Take turns turning angle, rear wheel angle, rear-wheel turning rate and rear wheel angular speed.
Navigation module 9 for realizing vehicle route navigation, 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 inserted computer 7 exports control signal 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 that vehicle is made to be fixed on big turning angle, so
Direction and the torque for persistently controlling front-wheel drive motor torque afterwards, reach quasi-static balance.
It should be noted that two wheel single-track vehicles can have several driving methods.It is most common two wheel single-track vehicle be with
Rear wheel drive.Rear-wheel is brought power using power chain or rotating bar using petrol engine as the vehicle of power, is driven
Vehicle forward.Electronic single-track vehicle is usually using hub-type motor-driven vehicle rear-wheel.In the list of rugged mountain pass traveling
Rail vehicle can also take Two-wheeled, mitigate rear wheel drive vehicle and be easy the probability out of control that skids.Use petrol engine
Two-wheeled single-track vehicle mechanical structure is more complicated, it needs to drive in power transmission to the front-wheel with turning system.Usually
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 hub motors of front and back wheel, drives fore-aft vehicle.Single-track vehicle can also only use front-wheel to drive.Although
Front-wheel 1 and rear-wheel 2 have driving motor in the present embodiment, belong to Two-wheeled mode, but controlling party provided by the invention
Method can be adapted for controlling front-wheel drive, rear wheel drive and Two-wheeled these three drive modes.
In addition, single-track vehicle is usually to utilize front-wheel steer.Single-track vehicle is also possible to 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 mounted on front-wheel in the present embodiment, in addition, turning motors 3 also may be mounted on rear-wheel, but
It is it should be noted that when the quantity of driving motor is one, it is preferable that turning motors and driving motor are mounted on one
On wheel, but turning motors and driving motor are not mounted on a wheel, also can be realized the control method in the present invention, but
Be vehicle overall performance be not so good as turning motors and driving motor being mounted 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 usually
By vehicle body, the front fork that can be turned to, front wheels and rear wheels composition.Vehicle is driven by the brushless motor being mounted on rear-wheel or front-wheel
It is dynamic.Vehicle turning is that handlebar is rotated by driver, drives front fork and front-wheel, changes the direction of advance of front-wheel.It is computer-controlled from
Dynamic balancing two takes turns single-track vehicle and utilizes sensor, including inertial sensor and optical encoder etc., the row of two wheel single-track vehicle of measurement
Data are sailed, in conjunction with driver or pre-determined path locus, recycle non-linear dynamic model and nonlinear Control mould
Type controls turning motors and front-wheel drive motor, drives front fork and front-wheel, reaches the dynamic equilibrium of vehicle.
Referring to Fig. 2, two wheels single-track vehicle provided by the invention includes sensor subsystem 11, inserted computer 12 and motor
Drives subsystem 13.Sensor subsystem 11, inserted computer 12 and two wheel single-track vehicle of the composition of Motor drive subsystem 13 are flat
The control system of weighing apparatus.
Wherein, Motor drive subsystem 13 include turning motors driver, front-wheel motor driver and be mounted on front-wheel and
Brake actuators on rear-wheel are constituted.Wherein, turning motors driver is mounted on front-wheel.
Sensor subsystem 11 includes navigation module, preceding turns encoder, turning optical encoder and inertial sensor.
Inserted computer 12 is the computer for being equipped with control software, and control software is based on nonlinear kinetics and non-linear
The software of control method.
Specifically, sensor subsystem 11, for acquiring 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 driven letter of collaboration
Number；
Motor drive subsystem controls corresponding motor for each signal in the motor drive signal according to collaboration
Torque output, so that two wheel single-track vehicles reach dynamic equilibrium and travel 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,
It is also possible to 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
It measures, preceding turns encoder can be front-wheel optical encoder.It should be noted that rear-wheel is also equipped with rear turns encoder, setting
The effect of turns encoder is that measurement obtains rear-wheel turning angle, rear wheel angle, rear-wheel turning rate and rear wheel angle speed afterwards
Degree, whether the data of rear turns encoder measurement are correct in order to verify the data that preceding turns encoder measurement obtains, in case 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 pitch angle.Specifically, inertial sensor measures vehicle
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 yaw component of angular acceleration, angular acceleration in roll component and pitch angle
Then the yaw angle of vehicle, roll angle is calculated according to vehicle body angular velocity vector and vehicle body acceleration vector in component of acceleration
And pitch angle.
Vehicle position information is the location information obtained by navigation module measurement and according to vehicle body angular velocity vector and vehicle
The location information that body vector acceleration is calculated, the information integrated.
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, it is based on non-linear dynamic model and Nonlinear Control Model, is calculated
And export the motor drive signal of collaboration.
It wherein, include front-wheel drive signal, brake driving signal and turning driving signal in the motor drive signal of collaboration.
Optionally, on the basis of the present embodiment, Motor drive subsystem is used for according in the motor drive signal of collaboration
Each signal control corresponding motor torque output when, be specifically used for:
Turning motors driver controls the power of turning motors according to the turning driving signal in the motor drive signal of collaboration
Square output；
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 control two brakes for the brake driving signal in the motor drive signal according to collaboration
The torque of vehicle motor exports.
In the present embodiment, inserted computer calculates and exports the motor of collaboration according to running data and traveling target data
After driving signal, Motor drive subsystem controls the power of corresponding motor according to each signal in the motor drive signal of collaboration
Square output, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema.This method is not to vehicle
State be defined, i.e., vehicle be either in halted state, driving status or dead ship condition and driving status it
Between mutual switching state when, can guarantee vehicle dynamic equilibrium travel, solve it is existing automatically control balance two wheels
Single-track vehicle from dead ship condition to driving status or when from driving status to dead ship condition, cannot be automatically kept in vehicle
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 having 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 matrix, 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
Are as follows:
Vehicle-state is by q=(q1, q2, q3)TIt represents, they are vehicle body roll angle, wheel turning angle and front-drive respectively
Angle.The matrix element of matrix M, C, G, K are the known analytical functions of vehicle body roll angle and wheel turning angle.They also and vehicle it is several
What, τ=(τ related with kinetic parameter1, τ2, τ3)TRespectively front-wheel drive and brake torque, turning motors torque, rear-wheel is driven
Dynamic and brake torque.
Due to the first behavior 0 of the matrix of K, torque τ, which rolls angle equation to vehicle body, does not have any influence, so vehicle body rolls
Angle is drive lacking.Nonlinear dynamical equation (1) is suitable for any front-wheel steer, front-wheel or rear wheel drive and front and back
Wheel while two wheel single-track vehicles of driving.It is practically applicable to simultaneously in traveling or the vehicle in dead ship condition.Because of front-wheel
Angular speedIt can be positive either negative, it also there is no limit vehicle is either retreated advancing.Two wheel gyrocars
It is a under-actuated systems.In the three degree of freedom of vehicle, only wheel turning angle and two, front-drive angle freedom degree is
Active control.Vehicle body roll angle, also chauffeur body inclination angle are not no driving mechanisms.Nonlinear Underactuated System controlling party
Method has very much, most important NONLINEAR OPTIMAL CONTROL (Nonlinear Optimal Control), Partial feedback linearization
(partial feedback linearization), ANN Control (Neural Network Control) is based on energy
The control (Energy Based Control) and sliding formwork control (Sliding Mode Control) of amount.Most of modern scientist
Method needs accurate dynamics of vehicle modeling.
Here we illustrate method of the invention using NONLINEAR OPTIMAL CONTROL.NONLINEAR OPTIMAL CONTROL is last century
The control method of 60-70 age mature is controlled for rocket flight earliest.Provide the cost function (cost of system
Function), NONLINEAR OPTIMAL CONTROL calculates optimum control amount u* (t) and the passage of state x* (t) at any time, non-meeting
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) it is vehicle at final position
State, t0For starting time, tfFor terminal time.Wherein, state refers to running data.
And meet the constraint of single order kinetics equation
Path constraint
P [x (t), u (t), t] >=0, (7)
Wherein, function P delegated path constraint function.
It is constrained with side condition
b[x(t0), t0, x (tf), tf=0. (8)
Wherein, function b representative edge constraint function.
Using iterative numerical approach, the solution of nonlinear equation: optimum control amount u* (t) can be calculated, is exactly this system
Front-wheel drive and brake torque, turning motors torque, rear wheel drive and brake torque.Vehicle-state x* (t) is exactly vehicle position
It sets, vehicle body roll angle, wheel turning angle, the function of front-drive angle respectively at any 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 related, also and vehicle
Need position to be achieved, vehicle body roll angle, wheel turning angle, front-drive angle are related.Method for optimally controlling is according to vehicle
The requirement of current state and user calculates 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, external disturbance and the variation of vehicle parameter all can make vehicle shift optimal
State.The present invention devises linear feedback system, eliminates error and disturbance, increases the stability of system.Assuming that in t moment,
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)
The vehicle-state difference very little of usual vehicle-state and 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 be weight factor, be definite value, S (f) it is end-condition, such as position, vehicle body roll angle, wheel turning
Angle, front-drive angle etc..
Kinetics equation constraint is also being linearly extended and moved from one place to another out near optimal control solution:
A, B matrix is nonlinear dynamical equation in optimal solution x8(t) Taylor expansion nearby.Optimum feedback control and vehicle
State is related:
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 the following solution to current time, so its initial condition was determined in the final time:
S(tf)=Sf (15)
Pass through above-mentioned calculating, so that it may calculate optimum control amount u* (t), be exactly the front-wheel drive and brake weight of this system
Square, turning motors torque and rear wheel drive and brake torque pass through front-wheel drive and brake torque, turning motors torque and rear-wheel
Driving and brake torque control vehicle.
In this way, control system can refuse the deviations such as disturbance, stablize Vehicular system, while expection reaches what user specified
Position.
The present invention can be used to realize the automatic Pilot of two wheel single-track vehicles.Also pilot steering two may be implemented and take turns gyrocar
.Under automatic driving mode, the track of vehicle be by navigation module, what camera and communication module determined, wherein navigation mould
Block, camera and communication module belong to the component part in sensor subsystem.And under pilot steering mode, the track of vehicle
Then determined by driver.It is desired that electronic steering wheel, electric brake pedal and electronic accelerator pedal input can be used in driver
Vehicle heading and speed, input and measurement value sensor of the inserted computer according to driver, calculate the track of vehicle
It is exported with control, controls driving motor and turning motors, under single-track vehicle traveling and halted state, reach the balance of vehicle.
It should be noted that the present invention and currently used single-track vehicle control method have the difference of essence:
The control method of the prior art limits some freedom degrees, calculates number control signal.The present invention uses dynamics
And modern control method calculates Collaborative Control output when not limiting any freedom degree of vehicle.The control of this system
Signal u* (t) and du (t), while there is the control signal of front-wheel drive motor and brake, also there is the control of turning motors to believe
Number, the control signal of rear wheel drive motor and brake.These signals are coefficient simultaneously, so that vehicle balance steadily reaches
The state and destination that user needs.
Optionally, based on any of the above embodiments, inserted computer is used for according to running data and traveling target
Data are specifically used for when calculating and exporting the motor drive signal of collaboration:
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 be deduced
The wish path of the driver of vehicle can deduce next traveling-position of user.Wherein, wish path can be next
The path that 10s is travelled.
The present embodiment is suitable for pilot steering two and takes turns single-track vehicle, when pilot steering, can manually 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 according to sensor subsystem acquisition 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
Calculate vehicle body roll angle, vehicle body yaw angle, Nose Wheel Steering angle the curve changed over time, 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,
In, preset time can be 10s, specifically, assuming that vehicle drives to destination B from starting point A, at this point, if calculating whole
The wish path of a distance, since vehicle can be potentially encountered the barriers such as stone or other road conditions in entire travel distance,
And then resulting in vehicle that cannot be travelled according to wish path, the wish path obtained at this time is just no longer significant, needs weight
New wish path is newly calculated, thus the wish path for calculating entire distance be it is worthless, therefore, the present embodiment is adopted
With the wish path for only calculating 10s, when the wish path of this 10s has been walked, then the wish path of next 10s is calculated.
It should be noted that turning motors driver, front-wheel motor driver and two brake actuators are calculated
After controlling signal, since the actual motion state and 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 driving status of the vehicle in the case where keeping balance, that is, the running data to two wheel single-track vehicles is needed to be modified.
Specifically makeover process includes:
1) wish path and running data are substituted into preset 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 preset trajector deviation correction formula, wherein trajector deviation is repaired
Positive formula is above-mentioned formula 11-15, in conjunction with trajector deviation correction formula, non-linear dynamic model and nonlinear Control mould
Type, so that it may which the control signal that turning motors driver, front-wheel motor driver and two brake actuators is calculated is repaired
Positive value.
It should be noted that, although controlled according to wish path, but since vehicle is influenced by external environment,
Situations such as such as encountering stone barrier, or encountering strong wind can be such that the driving status of vehicle changes, and then need to vehicle
Driving status 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 for adjusting turning motors driver, front-wheel motor driver and two brake actuators, 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,
The output signal of turning motors driver, front-wheel motor driver and two brake actuators is adjusted to corresponding control signal
Correction value can be realized and travel vehicle according to traveling target data dynamic equilibrium.
In the present embodiment, a kind of control mode of the wheel of pilot steering two single-track vehicle is provided, and then can be according to we
Formula controls two wheel single-track vehicles, to reach dynamic equilibrium.
Optionally, on the basis of Fig. 2 corresponding embodiment, inserted computer is used for according to running data and traveling target
Data are specifically used for when calculating and exporting the motor drive signal of collaboration:
According to the running data that traveling target data and sensor subsystem acquire, calculates 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 a certain distance of 10s
Sail target data.
Then, the running data that traveling target data and sensor subsystem acquire 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 calculate vehicle body roll angle, vehicle body yaw angle, Nose Wheel Steering angle change curve, wherein turn
The control signal of curved motor driver, front-wheel motor driver and two brake actuators is also the curve of variation.
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 vehicle driver is modified, and specific makeover process takes turns the makeover process in single-track vehicle referring to pilot steering two,
Details are not described herein.
In the present embodiment, a kind of control mode of the wheel of automatic Pilot two single-track vehicle is provided, and then can be according to we
Formula controls two wheel single-track vehicles, to reach dynamic equilibrium.
In the present invention, vehicle non-zero speed when driving, this control system reinforces vehicle turning motor torque τ automatically2's
Control, allows front-wheel or rear-wheel wheel turning angle effectively to adjust vehicle body center of gravity with respect to front and back wheel lateral position.Just
Often when driving, the stable equilibrium for effectively realizing vehicle may be implemented.
Vehicle be in low velocity either it is slack when, vehicle front-wheel or rear-wheel wheel turning angle are not adjustable vehicle
Center of gravity relative position.But when rear wheel drive, under fixed big wheel turning angle, it is moved forward and backward the adjustable vehicle of vehicle
Center of gravity is equivalent to the relative position of wheel supporting point.Control system of the invention reinforces the electricity of the driving to front-wheel or rear-wheel automatically
Machine Torque Control, the front-wheel and/or rear wheel drive motor torque τ of adjusting1, τ3Realize the stable equilibrium of vehicle.Usual vehicle be
Under big wheel turning angle (such as+- 45 Dus or more, even+- 90 spend), quickly front and back is micro- for vehicle front-wheel or rear wheel drive motor
The position of minor adjustment vehicle.If it is the single-track vehicle of front-wheel steer, in front-wheel drive motor torque τ1Control under, vehicle can
To reach stable equilibrium.Non-linear dynamic model of the invention calculation shows that, when wheel turning angle is equal to 90 degree, K33=0.
This is because wheel turning angle, at 90 degree, if front-wheel is non-slip, rear-wheel cannot drive vehicle to advance, thus cannot use
To control the balance of vehicle.Regardless of controlling vehicle balance using front-wheel or rear-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 driving that static balancing can be more efficient: computer-controlled automatic flat
Balance system can be fixed on wheel turning angle 90 degree either -90 degree, according to the information and control algolithm of sensor measurement, fastly
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 for filling Nonlinear Control Model, as long as can control steering motor, so that it may when vehicle travels, keep vehicle
Balance.Meanwhile as long as can control the driving motor being mounted on front-wheel or rear-wheel, so that it may 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 still adjustable vehicle traction motor corrects 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
A example is explained.
(1) single-track vehicle is taken turns in pilot steering two
Two wheels single-track vehicle provided in this embodiment, mainly has 7 component parts: the vehicle body of plagioclase, before being mounted on vehicle body
The front-wheel with steering motor in portion, is mounted on the rear-wheel of the drive power drive at vehicle rear portion, multiple sensors (including optical encoder and
Inertial sensor), electronic recorder, the inserted computer with control software, and control steering motor, the output structure of driving motor
At.Vehicle body can be band door, driver electronic control input and display vehicle in the fully closed unit and vehicle body of seat
The electronic display unit of actual travel status information.
Vehicle interior can be added in driver, after sitting down on the seat, start control system.Inserted computer starting
Afterwards, sensor starts to acquire the running data of 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 reaches the car speed and vehicle heading of driver's needs while balancing vehicle.Inserted computer is held
The input signal of the continuous running data acquired using sensor and driver repeats to correct the state and position that vehicle needs to reach
It sets, the continuous torque for adjusting turning motors allows vehicle stabilization to travel.
When driver steps on electric brake pedal, inserted computer timely updates the state of vehicle, utilizes Nonlinear Dynamic
Mechanical model and Nonlinear Control Model calculate optimal front and back wheel brake torque and steering motor torque, are keeping vehicle
Under conditions of balance, safe and efficient attenuating car speed.When speed reduces to a threshold value, inserted computer automatically switches
To quasi-static control model, in the case where fixing a non-zero wheel turning angle, loosens electric brake, adjust front-wheel drive motor
Torque and rotation direction reach quasi-static balance.This control method is suitable for temporarily parking.
After driver steps on electronic accelerator pedal, the state of inserted computer more new vehicle adjusts steering motor, no longer
The direction for adjusting driving moment, increases the positive torque of driving motor, and driving vehicle advances.
Driver can understand the driving status of vehicle by electronics LCD display.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
Single-track vehicle can be taken turns using robot automatic Pilot two.The control system of vehicle balance mainly forms portion by 8
Point: the vehicle body of plagioclase is mounted on the front-wheel with steering motor and driving motor of vehicle foreside, be mounted on vehicle rear portion without driving
The rear-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 driving motor.Tiltedly
Long vehicle body can transport personnel or cargo.
Automatic Pilot single-track vehicle inputs information or distal end automatic Pilot server according to user and passes through communication mould
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 in planning path.Inserted computer plans road according to these information again
Diameter or order vehicle are out of service, and communication module sends vehicle and traffic information gives distal end automatic Pilot server.Work as video
Acquisition sensor detects barrier and disappears, and inserted computer restarts vehicle again, drives towards destination.
Optionally, the control method that one kind two takes turns single-track vehicle balance is provided in another embodiment of the present invention, application
Single-track vehicle is taken turns in two, referring to Fig. 4, comprising:
The running data and traveling target data of S21, two wheel single-track vehicle of sensor subsystem acquisition；
S22, inserted computer calculate and export the motor driven letter of collaboration according to running data and traveling target data
Number；
S23, Motor drive subsystem control corresponding motor according to each signal in the motor drive signal of collaboration
Torque output, so that two wheel single-track vehicles reach dynamic equilibrium and travel 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
Export the motor drive signal of collaboration, comprising:
According to running data and traveling target data, it is based on non-linear dynamic model and Nonlinear Control Model, is calculated
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
A signal controls the torque output of corresponding motor, comprising:
Turning motors driver controls the power of turning motors according to the turning driving signal in the motor drive signal of collaboration
Square output；
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 control two brakes for the brake driving signal in the motor drive signal according to collaboration
The torque of vehicle motor exports.
In the present embodiment, inserted computer calculates and exports the motor of collaboration according to running data and traveling target data
After driving signal, Motor drive subsystem controls the power of corresponding motor according to each signal in the motor drive signal of collaboration
Square output, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema.This method is not to vehicle
State be defined, i.e., vehicle be either in halted state, driving status or dead ship condition and driving status it
Between mutual switching state when, can guarantee vehicle dynamic equilibrium travel, solve it is existing automatically control balance two wheels
Single-track vehicle from dead ship condition to driving status or when from driving status to dead ship condition, cannot be automatically kept in vehicle
The problem of dynamic equilibrium.
It should be noted that the specific explanations explanation of the step in the present embodiment, please refers 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, the motor drive signal of collaboration is calculated and export, comprising:
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；
According to sensor subsystem acquisition running data 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, a kind of control mode of the wheel of pilot steering two single-track vehicle is provided, and then can be according to we
Formula controls 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, please refers to corresponding in above-described embodiment
Explanation.
Optionally, on the basis of above-mentioned Fig. 4 corresponding embodiment, inserted computer is according to running data and traveling target
Data calculate and export the motor drive signal of collaboration, comprising:
According to the running data with traveling target data and sensor subsystem acquisition, calculates and export turning motors drive
The control signal of dynamic device, front-wheel motor driver and two brake actuators.
In the present embodiment, a kind of control mode of the wheel of automatic Pilot two single-track vehicle is provided, and then can be according to we
Formula controls 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, please refers to corresponding in above-described embodiment
Explanation.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to 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, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. one kind two takes turns single-track vehicle, which is characterized in that including sensor subsystem, inserted computer and motor driven subsystem
System；Wherein, the Motor drive subsystem includes turning motors driver, front-wheel motor driver and is mounted on front wheels and rear wheels
On brake actuators constitute；
The sensor subsystem, for acquiring the running data and traveling target data of two wheel single-track vehicles；
The inserted computer, for vehicle be in halted state, driving status or halted state and driving status it
Between mutual switching state when, according to the running data and the traveling target data, calculate and export collaboration motor drive
Dynamic signal；
The Motor drive subsystem controls corresponding motor for each signal in the motor drive signal according to collaboration
Torque output, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema；
Wherein, in the case where vehicle is in halted state, the inserted computer control turning motors make vehicle be fixed on default turn
Then bent angle persistently controls direction and the torque size of front-wheel drive motor torque, reaches quasi-static balance.
2. two wheels single-track vehicle according to claim 1, which is characterized 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, it is 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, which is characterized 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；
According to the running data of sensor subsystem acquisition and the wish path, calculates 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, which is characterized 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 that the traveling target data and the sensor subsystem acquire, calculates and export 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, which is characterized 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 the torque output of turning motors according to the turning driving signal in the motor drive signal of the collaboration；
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 of motor exports；
Two brake actuators, for the brake driving signal in the motor drive signal according to the collaboration, control two
The torque of a brake motor exports.
6. the control method that one kind two takes turns single-track vehicle balance, which is characterized in that be applied to two wheel single-track vehicles, comprising:
The running data and traveling target data of two wheel single-track vehicle of sensor subsystem acquisition；
When vehicle is in the mutual switching state of halted state, driving status either between halted state and driving status,
Inserted computer calculates and exports the motor drive signal of collaboration according to the running data and the traveling target data；
Motor drive subsystem is exported according to the torque that each signal in the motor drive signal of collaboration controls corresponding motor,
So that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema；
Wherein, in the case where vehicle is in halted state, the inserted computer control turning motors make vehicle be fixed on default turn
Then bent angle persistently controls direction and the torque size of front-wheel drive motor torque, reaches quasi-static balance.
7. control method according to claim 6, which is characterized in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, comprising:
According to the running data and the traveling target data, it is 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, which is characterized in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, comprising:
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；
According to the running data of sensor subsystem acquisition and the wish path, calculates 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, which is characterized in that the inserted computer according to the running data and
The traveling target data, calculate and export the motor drive signal of collaboration, comprising:
According to the running data that the traveling target data and the sensor subsystem acquire, calculates and export turning motors
The control signal of driver, front-wheel motor driver and two brake actuators.
10. control method according to claim 6, which is characterized in that the Motor drive subsystem includes turning motors
Driver, front-wheel motor driver and the brake actuators being mounted in front wheels and rear wheels are constituted；The Motor drive subsystem
The torque output of corresponding motor is controlled according to each signal in the motor drive signal of collaboration, comprising: the turning motors
Driver controls the torque output of turning motors according to the turning driving signal in the motor drive signal of the collaboration；
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 of motor exports；
Two brake actuators control two brakes for the brake driving signal in the motor drive signal according to the collaboration
The torque of vehicle motor exports.
Priority Applications (2)
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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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| CN107600267B (en) * | 2017-09-11 | 2019-11-08 | 广东工业大学 | A kind of two take turns the control method of single-track vehicle and its balance |
| CN112061279B (en) * | 2018-12-29 | 2022-02-22 | 深圳得到运通科技有限公司 | Method for realizing safety control of electric vehicle |
| CN113071583A (en) * | 2021-04-26 | 2021-07-06 | 北京骑胜科技有限公司 | Handlebar type vehicle steering indicating system, handlebar type vehicle and control method |
| CN113778080B (en) * | 2021-08-09 | 2023-12-01 | 清华大学 | Control method and device of single-rail double-wheel robot, electronic equipment and storage medium |
| 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 |
| CN117111479B (en) * | 2023-10-23 | 2024-01-30 | 深圳市智绘科技有限公司 | Robot control method, apparatus, electronic device and readable storage medium |
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