CN107728635A - A kind of automatic balancing arrangement and method of motor cycle type robot - Google Patents
A kind of automatic balancing arrangement and method of motor cycle type robot Download PDFInfo
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- CN107728635A CN107728635A CN201711115160.0A CN201711115160A CN107728635A CN 107728635 A CN107728635 A CN 107728635A CN 201711115160 A CN201711115160 A CN 201711115160A CN 107728635 A CN107728635 A CN 107728635A
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- 230000001133 acceleration Effects 0.000 claims description 32
- 238000005259 measurement Methods 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
The invention discloses a kind of automatic balancing arrangement and method of motor cycle type robot, the self balancing device is applied to motor cycle type robot, motor cycle type robot is formed with the self balancing device has two point-supported one-dimensional inverted pendulum structures, using the momentum-exchange principle in inverted pendulum principle, the upright self-balancing of motor cycle type robot is realized according to the law of conservation of momentum；Wherein, self balancing device includes being used for the Posture acquisition device for detecting the attitude data that the car body tilts, momenttum wheel, the motor for driving the momenttum wheel to rotate, the rotation data of attitude data and momenttum wheel is obtained with Posture acquisition device and the vehicle body controller of motor connection, vehicle body controller respectively, motor rotation data corresponding with attitude data and rotation data is exported using control algolithm controlled motor, so as to control momenttum wheel to rotate, the upright self-balancing of motor cycle type robot is realized.
Description
Technical field
The present invention relates to intelligent robot technology field, is filled more particularly to a kind of autobalance of motor cycle type robot
Put and method.
Background technology
Conventional drum robot at least possesses a driving wheel and two support wheels with driving wheel not point-blank,
Cause robot width size larger, make robot be difficult to move and advance in narrow environment, influence to narrow environment
Carry out the function such as search or detection accordingly.The square size of its width for the motorcycle or bicycle of two-wheeled diameter parallel
It is smaller, but motorcycle or bicycle are to control it in the vertical balanced of small space by people, and for the machine of the analogous shape
There is no corresponding autobalance means for device people to ensure its vertical balanced, therefore how to solve to make machine under narrow environment
People possesses the problem of Self-balancing is this area urgent need to resolve.
The content of the invention
It is an object of the invention to provide a kind of automatic balancing arrangement and method of motor cycle type robot, so that the motorcycle
Humanoid robot possesses Self-balancing under narrow environment.
To achieve the above object, it is described from flat the invention provides a kind of automatic balancing arrangement of motor cycle type robot
Weighing apparatus device is applied to motor cycle type robot, and the motor cycle type robot includes front-wheel, trailing wheel and located at front-wheel and trailing wheel
Between car body；The self balancing device is fixed on the car body, and the motor cycle type robot fills with the self-balancing
Putting composition has two point-supported one-dimensional inverted pendulum structures, using the momentum-exchange principle in inverted pendulum principle, is kept according to momentum
It is constant to restrain the upright self-balancing for realizing the motor cycle type robot；Wherein, the self balancing device includes：
Posture acquisition device, the Posture acquisition device are located on the car body, the appearance to be tilted for detecting the car body
State data；
Momenttum wheel, the axis direction of the rotating shaft of the momenttum wheel parallel to motor cycle type robot direction of advance or after
Direction is moved back, and the rotation direction of the momenttum wheel is perpendicular to motor cycle type robot direction of advance or direction of retreat；
Motor, the output shaft of the motor are connected with the rotating shaft of the momenttum wheel, drive the momenttum wheel to rotate；
Vehicle body controller, respectively with the Posture acquisition device and the motor connection, described in the vehicle body controller obtains
The attitude data of Posture acquisition device collection and the rotation data of the momenttum wheel, control the motor to export using control algolithm
Motor rotation data corresponding with the attitude data and the rotation data, so as to control the motor to drive the momenttum wheel
Rotate, realize the upright self-balancing of the motor cycle type robot.
Optionally, the self balancing device also includes motor driver, momenttum wheel controller and power supply, the motor driving
The stator of device, the momenttum wheel controller and power supply respectively with the motor electrically connects, and the rotor of the electronics moves with described
Amount wheel connection；The motor driver, the momenttum wheel controller, the Posture acquisition device are integrated in the vehicle body controller
One circuit board, the circuit board are fixed on the car body；Control instruction is sent to the momentum by the vehicle body controller
Controller is taken turns, the momenttum wheel controller controls the motor driver to drive the rotor of the motor to rotate, the motor
Rotor drives the output shaft rotation of the motor so as to drive the momenttum wheel to rotate.
Optionally, the Posture acquisition device includes two groups of three axis accelerometers, and six during for detecting the tilting of car body
Group acceleration.
Optionally, the Posture acquisition device includes two groups of three axis accelerometers and two groups of three-axis gyroscopes, described two group three
Axis accelerometer is used to detect six groups of acceleration during the tilting of car body, and two groups of three-axis gyroscopes are used to detect the car
Six groups of angular acceleration when body tilts.
Present invention also offers a kind of automatic balancing method of motor cycle type robot, above-mentioned automatic balancing arrangement is utilized
The automatic balancing method of realization, methods described include：
Obtain the inclined attitude data of motor cycle type robot car body；
Tilting of car body angle and tilting of car body angular speed are calculated using attitude measurement model according to the attitude data；
Obtain the current angular velocity of momenttum wheel；
It is true using control algolithm according to the tilting of car body angle, the tilting of car body angular speed and the current angular velocity
Determine motor target torque；
Controlled motor rotates according to the motor target torque, while momenttum wheel rotates as described in the motor driven, obtains
Amendment attitude data after being adjusted to the car body；
Judge whether the amendment attitude data is equal to the upright self-balancing attitude data of the car body, obtain judging knot
Fruit；
When the judged result represents to be, determine that the car body is in upright self-balancing state；
When the judged result represents no, " the inclined attitude data of motor cycle type robot car body is obtained " described in return
The step of.
Optionally, it is described that tilting of car body angle and tilting of car body are calculated using attitude measurement model according to the attitude data
Attitude measurement model in the step of angular speed includes the vehicle body attitude equation of motion and momenttum wheel rotation equation, and the step is specifically wrapped
Include：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion
Degree；
The first derivative for solving the tilting of car body angle obtains the tilting of car body angular speed.
Optionally, it is described that tilting of car body angle and tilting of car body are calculated using attitude measurement model according to the attitude data
Attitude measurement model in the step of angular speed includes the vehicle body attitude equation of motion and momenttum wheel rotation equation, and the step is specifically wrapped
Include：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion
Degree；
Obtain the tilting of car body angular speed of gyroscope measurement.
Optionally, the control algolithm includes pid control algorithm, FUZZY ALGORITHMS FOR CONTROL, adaptive control algorithm, robust control
Any one in algorithm processed, Active Disturbance Rejection Control algorithm.
Optionally, the vehicle body attitude equation of motion isWherein, θbFor the car body
Angle of inclination, A1,A2,A3,A4,A5,A6For six groups of acceleration of three axis accelerometer detection, wherein A1=0, A4=0；r1, r2Point
Not Wei three axis accelerometer described in two groups barycenter to the fulcrum of the car body distance.
Optionally, the control algolithm is pid control algorithm, described to be inclined according to the tilting of car body angle, the car body
Oblique angle speed and the current angular velocity determine motor target torque using control algolithm, specifically include：
Utilize the governing equation in the pid control algorithm
Calculate the motor target torque；Wherein, Tm(t) it is the motor target torque, K1、K2、K3It is control coefrficient, θbd、The reference angle speed of the reference angle of respectively described car body, the reference angular velocities of the car body and the momenttum wheel
Degree, it is in the car body in the adjustment control of upright self-balancing state, θbd、All it is 0；θbFor the tilting of car body angle
Degree,For the tilting of car body angular speed, θwFor the current angular velocity of momenttum wheel.
According to specific embodiment provided by the invention, the invention discloses following technique effect：It is provided by the invention certainly flat
Weighing apparatus apparatus and method are applied to motor cycle type robot, and self balancing device is fixed on the car body, motor cycle type robot
Being formed with self balancing device has two point-supported one-dimensional inverted pendulum structures, using the momentum-exchange principle in inverted pendulum principle,
According to the law of conservation of momentum, attitude data is toppled over by detecting motor cycle type robot turning for momenttum wheel is determined according to control algolithm
Dynamic data, posture is toppled over using the rotating speed and rotation direction of momenttum wheel come balance motor cycle type robot, to realize motorcycle
The upright self-balancing of humanoid robot.Motor cycle type robot being capable of upright row in a narrow space under the upright self-balancing state
Enter, be advantageously implemented in narrow space and the function such as searched or detected accordingly.
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 institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of motor cycle type robot；
Fig. 2 is the structural representation of automatic balancing arrangement provided in an embodiment of the present invention；
Fig. 3 is the structural representation of the inverted pendulum model that motor cycle type robot is formed with automatic balancing arrangement in the present invention
Figure；
Fig. 4 is the flow chart of automatic balancing method provided in an embodiment of the present invention；
Fig. 5 is the equivalent inverted pendulum structure chart of two groups of three axis accelerometers set location in motor cycle type robot；
Fig. 6 present invention realizes self balancing control principle drawing using Active Disturbance Rejection Control algorithm.
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.
It is an object of the invention to provide a kind of automatic balancing arrangement and method of motor cycle type robot, so that the motorcycle
Humanoid robot possesses Self-balancing under narrow environment.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
As described in Figure 1, the motor cycle type robot includes front-wheel 1, trailing wheel 8 and between front-wheel 1 and trailing wheel 8
Car body, the car body include front-wheel yoke 2, turn to hand handle 3, steering column jacket 4, steering link 5, steering-engine 6, rear axle 9, vehicle frame
10th, rear wheel drive mechanism 11, support steering wheel 12；Front-wheel 1 is connected with front-wheel yoke 2 by bearing, front-wheel 1 is tangentially rolled
It is dynamic；Front-wheel yoke 2 is fixed to by bolt (not shown) and turns to hand handle 3；Turn to hand handle 3 and pass through bearing with steering column jacket 4
Connection, makes steering hand handle 3 to be rotated along the spindle central of steering column jacket 4；Steering column jacket 4 is fixed on vehicle frame 10；Hand handle 3 is turned to turning
It is connected through the hinge to connecting rod 5；The rotating disk of the other end of steering link 5 and steering-engine 6 is connected through the hinge, and steering-engine 6 is defeated
Shaft, which rotates, correspondingly to drive steering link 5 to rotate, so as to realize that turning to hand handle 3 rotates, and realizes the steering work(of robot
Energy；Steering-engine 6 is fixed on vehicle frame 10；Support steering wheel 12 is fixed on vehicle frame 10, and the rotating shaft of support steering wheel 12 can drive holder pivots；
Rear wheel drive mechanism 11 is fixed on vehicle frame 10, and rear wheel drive mechanism 11 is engaged with trailing wheel 8 by gear, drives trailing wheel 8 along rear axle 9
Axial rotation；Rear axle 9 is fixed on vehicle frame 10.The electricity consumption device of promising motor cycle type robot is also fixed on vehicle frame 10 by support
The battery 13 of power supply.
As shown in Fig. 2 self balancing device 7 provided in an embodiment of the present invention is fixed between the vehicle frame 10 of car body, it is described from
Bascule 7 includes Posture acquisition device (not shown), momenttum wheel 15, motor 14 and vehicle body controller (not shown).
Wherein Posture acquisition device is located on car body, the attitude data to be tilted for detecting car body.The axle of the rotating shaft 16 of momenttum wheel 15
Line is oriented parallel to motor cycle type robot direction of advance or direction of retreat, and the rotation direction of momenttum wheel 15 is perpendicular to motorcycle
Humanoid robot direction of advance or direction of retreat.The output shaft of motor 14 is connected with the rotating shaft 16 of momenttum wheel 15, drives momenttum wheel 15
Rotate.Vehicle body controller is connected with Posture acquisition device and motor 14 respectively, and vehicle body controller obtains the appearance of Posture acquisition device collection
The rotation data of state data and momenttum wheel 15, utilize the output of control algolithm controlled motor 14 and attitude data and rotation data pair
The motor rotation data answered, so as to which controlled motor 14 drives momenttum wheel 15 to rotate, realize the upright from flat of motor cycle type robot
Weighing apparatus.
The automatic balancing arrangement 7 of motor cycle type robot provided by the invention is formed with motor cycle type robot has at 2 points
The one-dimensional inverted pendulum structure of support, as shown in Figure 3.Wherein, in Fig. 3 17 for connection rotor momenttum wheel, 18 for connection electricity
The supporting support of machine stator, 19 be rack shaft, and 20 be fixed pan, and 21 be momenttum wheel rotating shaft.Momenttum wheel 17 and supporting support
18 are connected by momenttum wheel rotating shaft 21；Supporting support 18 and fixed pan 20 are connected by rack shaft 19.17,18 and 21 are seen
If being an overall A, A, 19 and 20 form a reversible pendulum system.
The momentum-exchange principle of the reversible pendulum system is：When the speed that momenttum wheel 17 rotates clockwise is accelerated, momenttum wheel
17 clockwise rotation momentum increase, according to principle of conservation of momentum, supporting support 18 is by rotation in the counterclockwise direction
Momentum increases.Because supporting support 18 and rack shaft 19 link together and rack shaft 19 is irremovable, so support turns
Axle 19 produces clockwise rotation momentum to supporting support 18, makes supporting support 18 relative to rack shaft 19 to clockwise
Direction rotates.Similarly, when momenttum wheel 17 rotate in an anti-clockwise direction speed accelerate when, supporting support 18 relative to rack shaft 19 to
Rotate in an anti-clockwise direction.By constantly adjusting the leaving momentum of momenttum wheel, supporting support 18 can be made to keep balance.For the present invention
Automatic balancing arrangement and motor cycle type robot for, momenttum wheel 17 in above-mentioned Fig. 3 in Fig. 1 and 2 equivalent to being connected to electricity
The momenttum wheel 15 of the output shaft of machine 14, supporting support 18 equivalent to motor cycle type robot car body, rack shaft 19 equivalent to
In Fig. 1 the contact point on front-wheel 1 and trailing wheel 8 and ground, fixed pan 20 equivalent to the ground in Fig. 1,5 equivalent in Fig. 1 and 2
The rotating shaft 16 of momenttum wheel.The automatic balancing arrangement 7 of motor cycle type robot provided by the invention utilizes with motor cycle type robot
Momentum-exchange principle in inverted pendulum principle, the upright from flat of the motor cycle type robot is realized according to the law of conservation of momentum
Weighing apparatus.
Describe the motor cycle type robot of the automatic balancing arrangement 7 with the present invention in detail with reference to the inverted pendulum structure
Principle in the automatic upright balance tilted under inactive state.
Coordinate system O-XYZ in the self-balancing system mathematical modeling that the inverted pendulum structure is formed is as shown in figure 3, the self-balancing
Posture kinetic model is
Wherein, θb、θwThe angle that respectively supporting support 18, momenttum wheel 17 rotate；Respectively supporting support 18,
The angular speed that momenttum wheel 17 rotates；The angular acceleration that respectively supporting support 18, momenttum wheel 17 rotate；lb、lwRespectively
For supporting support 18, the distance of the central point of momenttum wheel 17 to rack shaft 19；mb、mwRespectively supporting support 18, momenttum wheel 17
Quality；Ib、IwThe respectively rotary inertia of the relative mass axis of supporting support 18, momenttum wheel 17；Cb、CwRespectively supporting support
18th, the pivoting friction coefficient of momenttum wheel 17；G (=9.81m/s2) be earth horizontal plane gravitational acceleration, TmMotor output turns
Square.
IfLinearized in origin annex：
In formula,
Angle, angular speed and angular acceleration, the angle of momenttum wheel of car body are given in above-mentioned self-balancing system mathematical modeling
Relation between speed and angular acceleration and motor output torque, then can by obtain corresponding car body angle, angle speed
Degree and angular acceleration, the angular speed of momenttum wheel and angular acceleration solve the output torque of motor, so as to realize motor to momenttum wheel
The control of rotary state, you can realize the self-balancing of the inverted pendulum structure.Motor cycle type robot can be achieved based on the principle
Upright self-balancing.
In actual applications, the self balancing device also includes motor driver, momenttum wheel controller and power supply, the electricity
The stator of machine driver, the momenttum wheel controller and power supply respectively with the motor electrically connects, the rotor of the electronics with
The momenttum wheel connection；The motor driver, the momenttum wheel controller, the Posture acquisition device and the vehicle body controller
A circuit board is integrated in, the circuit board is fixed on the car body；Control instruction is sent to institute by the vehicle body controller
Momenttum wheel controller is stated, the momenttum wheel controller controls the motor driver to drive the rotor of the motor to rotate, described
The rotor of motor drives the output shaft rotation of the motor so as to drive the momenttum wheel to rotate.
Wherein, the Posture acquisition device can be two groups of three axis accelerometers, six during for detecting the tilting of car body
Group acceleration.Vehicle body controller is by obtaining six groups of acceleration i.e. using above-mentioned self-balancing system mathematical modeling according to corresponding
Control algolithm calculate the output torque of motor, so as to drive momenttum wheel to rotate by motor, to realize motor cycle type machine
The upright self-balancing of people.
Or the Posture acquisition device can also be two groups of three axis accelerometers and two groups of three-axis gyroscopes, described two groups
Three axis accelerometer is used to detect six groups of acceleration during the tilting of car body, and two groups of three-axis gyroscopes are described for detecting
Six groups of angular acceleration during tilting of car body.Vehicle body controller is i.e. available by obtaining six groups of acceleration and six groups of angular acceleration
Above-mentioned self-balancing system mathematical modeling calculates the output torque of motor according to corresponding control algolithm, so as to be driven by motor
Momenttum wheel rotates, to realize the upright self-balancing of motor cycle type robot.
Autobalance principle based on above-mentioned automatic balancing arrangement, present invention also offers a kind of motor cycle type robot
Automatic balancing method, as shown in figure 4, this method includes：
Step 401：Obtain the inclined attitude data of motor cycle type robot car body；
Step 402：Tilting of car body angle and tilting of car body angle are calculated using attitude measurement model according to the attitude data
Speed；
Step 403：Obtain the current angular velocity of momenttum wheel；
Step 404：Control is utilized according to the tilting of car body angle, the tilting of car body angular speed and the current angular velocity
Algorithm processed determines motor target torque；
Step 405：Controlled motor rotates according to the motor target torque, while the momenttum wheel as described in the motor driven
Rotate, obtain the amendment attitude data after the car body adjustment；
Step 406：Judge whether the amendment attitude data is equal to the upright self-balancing attitude data of the car body, obtain
Judged result；
When the judged result represents to be, determine that the car body is in upright self-balancing state；
When the judged result represents no, " the inclined attitude data of motor cycle type robot car body is obtained " described in return
The step of.
Wherein, above-mentioned steps 402 can be realized by following steps：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion
Degree；
The first derivative for solving the tilting of car body angle obtains the tilting of car body angular speed.
The implementation method is when Posture acquisition device is two groups of 3-axis acceleration timing, and the tilting of car body is detected according to it
Six groups of acceleration, as shown in figure 5, Fig. 5 be two groups of three axis accelerometers in motor cycle type robot set location it is equivalent
Inverted pendulum structure chart, 1,2,3,4,5,6 test position for denoting two groups of three axis accelerometers respectively, 6 groups of acceleration in figure
Reading be designated as A1,A2,A3,A4,A5,A6, then A1,A2,A3,A4,A5,A6Between angle, angular speed and angular acceleration with car body
Relation it is as follows：
A1=0
A4=0
Wherein, r1、r2Distance (i.e. rack shaft 19 of the barycenter of respectively two groups three axis accelerometers to the fulcrum of car body
Central point).
The vehicle body attitude equation of motion can be determined by above-mentioned relation, the angle for solving the lateral attitude of car body is：
The angular speed that first derivative is the lateral attitude that can obtain car body is solved to the angle of the lateral attitude of car body.So as to
The output torque of motor can be calculated according to self-balancing system attitude dynamics model, so as to realize the control to momenttum wheel.
Or above-mentioned steps 402 can also be realized by following steps：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion
Degree；
Obtain the tilting of car body angular speed of gyroscope measurement.
The realization of this method is described two groups when Posture acquisition device is two groups of three axis accelerometers and two groups of three-axis gyroscopes
Three axis accelerometer is used to detect six groups of acceleration during the tilting of car body, and two groups of three-axis gyroscopes are described for detecting
Six groups of angular acceleration during tilting of car body.
The angle of the lateral attitude of car body is identical with above-mentioned implementation method, and the angular speed of the lateral attitude for car body
Directly it can be obtained by two groups of three-axis gyroscopes in the reading of X-direction, i.e.,：
Wherein, ω1x、ω2xReading of the respectively two groups of three-axis gyroscopes in the angular speed measured of X-direction.
The output torque of motor can be calculated according to self-balancing system attitude dynamics model according to the implementation method, so as to
Realize the control to momenttum wheel.
It should be noted that control algolithm in this automatic balancing method include pid control algorithm, FUZZY ALGORITHMS FOR CONTROL,
Any one in adaptive control algorithm, Robust Control Algorithm, Active Disturbance Rejection Control algorithm, i.e., all classical and modern scientists reasons
It can be applied to by the control algolithm included in this automatic balancing method.
When the present invention automatic balancing method in control algolithm be pid control algorithm, it is described according to the tilting of car body
The step of angle, the tilting of car body angular speed and the current angular velocity determine motor target torque using pid control algorithm
Specifically include：
Utilize the governing equation in the pid control algorithm
Calculate the motor target torque；Wherein, Tm(t) it is the motor target torque, K1、K2、K3It is control coefrficient, θbd、The reference angle speed of the reference angle of respectively described car body, the reference angular velocities of the car body and the momenttum wheel
Degree, it is in the car body in the adjustment control of upright self-balancing state, θbd、All it is 0；θbFor the tilting of car body angle
Degree,For the tilting of car body angular speed, θwFor the current angular velocity of momenttum wheel.
When the present invention automatic balancing method in control algolithm be Active Disturbance Rejection Control algorithm, according to the Active Disturbance Rejection Control calculation
Method can also realize the control to motor so as to realize the control to momenttum wheel, realize the upright from flat of motor cycle type robot
Weighing apparatus.The control principle of the controller of the Active Disturbance Rejection Control algorithm is as shown in Figure 6.With the reference of car body in the Active Disturbance Rejection Control algorithm
Angle, θbd, car body reference angular velocitiesWith the reference angular velocities of momenttum wheelIt is defeated as the reference value of control algolithm input
Enter into Nonlinear Tracking Differentiator, the input data after being handled；The tilting of car body angle that is gathered by Posture acquisition device, car body incline
The current angular velocity of oblique angle speed and momenttum wheel passes through extended state observer and system fading margin parameter b0Obtained after adjustment
Measurement attitude data after adjustment, the data after processing and the measurement attitude data after adjustment are subjected to nonlinear combination, obtained
The control parameter of motor, the control rotated to motor is realized, so as to realize the upright self-balancing of motor cycle type robot.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of automatic balancing arrangement of motor cycle type robot, it is characterised in that the self balancing device is applied to motorcycle
Humanoid robot, the motor cycle type robot include front-wheel, trailing wheel and the car body between front-wheel and trailing wheel；It is described certainly flat
Weighing apparatus device is fixed on the car body, and the motor cycle type robot forms point-supported with two with the self balancing device
One-dimensional inverted pendulum structure, using the momentum-exchange principle in inverted pendulum principle, the motorcycle is realized according to the law of conservation of momentum
The upright self-balancing of humanoid robot；Wherein, the self balancing device includes：
Posture acquisition device, the Posture acquisition device are located on the car body, the posture number to be tilted for detecting the car body
According to；
Momenttum wheel, the axis direction of the rotating shaft of the momenttum wheel is parallel to motor cycle type robot direction of advance or retrogressing side
To, and the rotation direction of the momenttum wheel is perpendicular to motor cycle type robot direction of advance or direction of retreat；
Motor, the output shaft of the motor are connected with the rotating shaft of the momenttum wheel, drive the momenttum wheel to rotate；
Vehicle body controller, obtain the posture with the Posture acquisition device and the motor connection, the vehicle body controller respectively
The attitude data of collector collection and the rotation data of the momenttum wheel, the motor output and institute are controlled using control algolithm
Motor rotation data corresponding to attitude data and the rotation data is stated, so as to control the motor to drive the momentum rotation
It is dynamic, realize the upright self-balancing of the motor cycle type robot.
2. automatic balancing arrangement according to claim 1, it is characterised in that the self balancing device also includes motor and driven
Device, momenttum wheel controller and power supply, the motor driver, the momenttum wheel controller and power supply respectively with the motor
Stator is electrically connected, and the rotor of the electronics is connected with the momenttum wheel；The motor driver, the momenttum wheel controller, institute
State Posture acquisition device and be integrated in a circuit board with the vehicle body controller, the circuit board is fixed on the car body；It is described
Control instruction is sent to the momenttum wheel controller by vehicle body controller, and the momenttum wheel controller controls the motor driver
The rotor of the motor is driven to rotate, the rotor of the motor drives the output shaft rotation of the motor so as to drive the momentum
Wheel rotates.
3. automatic balancing arrangement according to claim 2, it is characterised in that the Posture acquisition device adds including two group of three axle
Speedometer, six groups of acceleration during for detecting the tilting of car body.
4. automatic balancing arrangement according to claim 2, it is characterised in that the Posture acquisition device adds including two group of three axle
Speedometer and two groups of three-axis gyroscopes, two groups of three axis accelerometers are used to detect six groups of acceleration during the tilting of car body
Degree, two groups of three-axis gyroscopes are used to detect six groups of angular acceleration during the tilting of car body.
5. a kind of automatic balancing method of motor cycle type robot, it is characterised in that utilize automatic as described in claim 1-4
The automatic balancing method that bascule is realized, methods described include：
Obtain the inclined attitude data of motor cycle type robot car body；
Tilting of car body angle and tilting of car body angular speed are calculated using attitude measurement model according to the attitude data；
Obtain the current angular velocity of momenttum wheel；
Electricity is determined using control algolithm according to the tilting of car body angle, the tilting of car body angular speed and the current angular velocity
Machine target torque；
Controlled motor rotates according to the motor target torque, while momenttum wheel rotates as described in the motor driven, obtains institute
State the amendment attitude data after car body adjustment；
Judge whether the amendment attitude data is equal to the upright self-balancing attitude data of the car body, obtain judged result；
When the judged result represents to be, determine that the car body is in upright self-balancing state；
When the judged result represents no, the step of " the inclined attitude data of acquisition motor cycle type robot car body " described in return
Suddenly.
6. automatic balancing method according to claim 5, it is characterised in that described that posture is utilized according to the attitude data
The attitude measurement model that measurement model was calculated in the step of tilting of car body angle and tilting of car body angular speed is transported including vehicle body attitude
Dynamic equation and momenttum wheel rotation equation, the step specifically include：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion；
The first derivative for solving the tilting of car body angle obtains the tilting of car body angular speed.
7. automatic balancing method according to claim 5, it is characterised in that described that posture is utilized according to the attitude data
The attitude measurement model that measurement model was calculated in the step of tilting of car body angle and tilting of car body angular speed is transported including vehicle body attitude
Dynamic equation and momenttum wheel rotation equation, the step specifically include：
Acceleration in the attitude data calculates the tilting of car body angle using the vehicle body attitude equation of motion；
Obtain the tilting of car body angular speed of gyroscope measurement.
8. automatic balancing method according to claim 5, it is characterised in that the control algolithm include pid control algorithm,
Any one in FUZZY ALGORITHMS FOR CONTROL, adaptive control algorithm, Robust Control Algorithm, Active Disturbance Rejection Control algorithm.
9. the automatic balancing method according to claim 6 or 7, it is characterised in that the vehicle body attitude equation of motion isWherein, θbFor the tilting of car body angle, A1,A2,A3,A4,A5,A6For three axis accelerometer
Six groups of acceleration of detection, wherein A1=0, A4=0；r1, r2The barycenter of three axis accelerometer is to the car respectively described in two groups
The distance of the fulcrum of body.
10. automatic balancing method according to claim 5, it is characterised in that the control algolithm is pid control algorithm,
It is described that electricity is determined using control algolithm according to the tilting of car body angle, the tilting of car body angular speed and the current angular velocity
Machine target torque, is specifically included：
Utilize the governing equation in the pid control algorithmCalculate
The motor target torque；Wherein, Tm(t) it is the motor target torque, K1、K2、K3It is control coefrficient, θbd、
The reference angular velocities of the reference angle of respectively described car body, the reference angular velocities of the car body and the momenttum wheel, described
Car body is in the adjustment control of upright self-balancing state, θbd、All it is 0；θbFor the tilting of car body angle,For institute
State tilting of car body angular speed, θwFor the current angular velocity of momenttum wheel.
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