CN111284629B - Self-balancing bicycle and control method thereof - Google Patents
Self-balancing bicycle and control method thereof Download PDFInfo
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- CN111284629B CN111284629B CN202010128416.7A CN202010128416A CN111284629B CN 111284629 B CN111284629 B CN 111284629B CN 202010128416 A CN202010128416 A CN 202010128416A CN 111284629 B CN111284629 B CN 111284629B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
Abstract
The invention provides a self-balancing bicycle which is characterized by comprising a bicycle body, wherein the bicycle body is connected with a main controller, a detection system, a balancing system and a steering system; the detection system comprises a gyroscope, and is used for detecting the horizontal state of the vehicle body and transmitting detection information to the main controller; the steering system comprises a steering motor, the steering motor is connected with the head of the vehicle body through a speed reducer to control the rotation angle and speed of the head; the balancing system comprises a balancing motor, a rotary motion mechanism and a balancing weight, one end of the rotary motion mechanism is connected with the balancing weight, the other end of the rotary motion mechanism is connected with the balancing motor, and the balancing motor is electrically connected with the main controller; the main controller processes the detection information and generates a control signal, and the control signal is transmitted to the balance system and the steering system; the problem that the self-balancing bicycle is limited to movement balance at present is solved, so that the bicycle can realize movement and static balance.
Description
Technical Field
The invention relates to a self-balancing bicycle and a control method thereof, in particular to a bicycle capable of realizing autonomous balance and a control method thereof, belonging to the technical field of electromechanical control.
Background
The bicycle is one of the most common transportation means in people's daily life, and through the development history of the bicycle, although simple structure, it still contains abundant scientific problem in the development and evolution process of bicycle. The bicycle is physically unstable due to only two contact points with the supporting road surface, and is similar to an inverted pendulum structure, but when the bicycle is manually controlled or is in a proper speed condition, the bicycle can realize real self-running, and the problem of perfect dynamic stability is presented.
At present, self-balancing of bicycles is mainly researched by aiming at establishment of a mechanical model and analysis of dynamics kinematics, some research teams are modified on a conventional bicycle to realize simple motion balance of the bicycle, but the motion balance is only aimed at the condition that the bicycle runs forwards, and the self-balancing of the bicycle cannot be realized under the conditions of low speed and static state. The TMS bicycle for verifying the dynamic balance of the bicycle can realize the self-balance of the movement of the bicycle body only by utilizing the structural characteristics of the TMS bicycle without any auxiliary control at a certain speed, can not realize the self-balance under the conditions of static and low speed, has special structure, can not normally ride and is only used for experimental verification.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the invention provides a self-balancing bicycle, which comprises a bicycle body, wherein the bicycle body is connected with a main controller, a detection system, a balancing system and a steering system; the detection system comprises a gyroscope, and is used for detecting the horizontal state of the vehicle body and transmitting detection information to the main controller;
the steering system comprises a steering motor, the steering motor is connected with the head of the vehicle body through a speed reducer to control the rotation angle and speed of the head;
the balancing system comprises a balancing motor, a rotary motion mechanism and a balancing weight, one end of the rotary motion mechanism is connected with the balancing weight, the other end of the rotary motion mechanism is connected with the balancing motor, and the balancing motor is electrically connected with the main controller;
the main controller processes the detection information and then generates a control signal, and the control signal is transmitted to the balance system and the steering system.
In a second aspect, the invention provides a control method of a self-balancing bicycle, which comprises the following specific steps:
pressing down a power main switch to start the system, and checking whether power supply and parameter information of each part of the system are normal or not through a main controller;
calibrating a gyroscope of the detection system through the main controller, and reading data of the gyroscope and a speed measurement module of the detection system in real time;
the established kinematic model of the bicycle calculates the rotation angle delta and the angular velocity beta of the steering motor and the position phi, the angular velocity omega and the angular acceleration alpha of the balance motor according to the inclination angle theta, the inclined angular velocity lambda and the walking speed mu of the bicycle body;
the center of gravity of the bicycle body returns to the position right below the bicycle body by controlling the rotation angle delta and the angular speed beta of the steering motor; the restoring force f of the bicycle body in the left and right directions can be provided by controlling the position phi, the angular velocity omega and the angular acceleration alpha of the balancing motor, and the balance of the bicycle body can be maintained by adjusting the gravity center of the bicycle body and generating the restoring force f in the left and right directions of the bicycle body, so that the self-balancing of the bicycle is achieved.
Compared with the prior art, the invention has the beneficial effects that:
1. the balance of the self-balancing bicycle is adjusted by the steering motor and the balancing device capable of generating left and right restoring forces, so that the problem that the self-balancing bicycle is limited to motion balance at present is solved, the bicycle can realize motion and static balance, and the kinematic equation parameters can be dynamically adjusted in real time through upper computer software and wireless remote control equipment when the parameters of a bicycle body change, so that the system can reach a self-balancing state again, and the flexibility of the self-balancing bicycle is greatly improved.
2. The invention also solves the problem that the vehicle body parameter changes and the modeling analysis must be carried out again, greatly improves the robustness of the model, and can change the magnitude of the left and right restoring force by changing the number and the position of the balancing weights of the balancing swinging device or the balancing flywheel so as to change the immunity of the self-balancing system and ensure that the self-balancing bicycle can adapt to other complex roads.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural view of a self-balancing bicycle of the present invention;
fig. 2 is a schematic structural view of a balanced oscillating device in embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a balance flywheel according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a servo transmission module in embodiment 1 of the present invention;
FIG. 5 is a schematic view of the kinematic parameters of the present invention;
in the figure, 1, a bicycle body, 2, a fixed frame, 3, a driving system, 4, a battery, 5, a balance swing device, 5.1, an eccentric swing body, 5.2, a balancing weight, 5 ', a balance flywheel, 5.1', a rotating flywheel, 5.2 ', a flywheel balancing weight, 6, a brushless hub walking motor, 6', a servo transmission module, 6.1 ', a servo motor, 6.2', a synchronous belt transmission mechanism, 7, a speed measurement module, 8, a balance motor, 9, a gyroscope, 10, a control system, 11, a power supply main switch, 12, a steering motor, 13, upper control machine software, 14, a display, 15, wireless remote control equipment, 16 and a hollow speed reducer.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be a fixed connection, or may be an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example 1
A self-balancing bicycle is composed of a bicycle body 1, a fixing frame 2, a steering motor 12, a hollow speed reducer 16, a gyroscope 9, a balancing motor 8, a balancing swing device 5, a speed measuring module 7, a control system 10, a driving system 3, a brushless hub walking motor 6, a display 14, a power supply main switch 12, a battery 4, a wireless remote control device 15 and upper computer control software 13, wherein the steering motor 12 is connected with an input shaft of the hollow speed reducer 16, an output shaft of the hollow speed reducer 16 is connected with a bicycle head rotating shaft of the bicycle body 1, a body of the hollow speed reducer 16 is fixed with a frame of the bicycle body 1, so that the steering motor 12 can control the direction of the bicycle body 1 for rotating the bicycle head, the fixing frame 2 is fixed at a proper position of the bicycle body 1 and used for fixing the control system 10, the driving system 3, the gyroscope 9 and the balancing motor 8, the gyroscope 9 is parallel to the fixed plane of the fixed frame 2 and the horizontal plane, the output shaft of the balance motor 8 is connected with the balance swing device 5, so that the balance motor 8 can drive the balance swing device 5 to move, the brushless hub walking motor 6 is connected with the rear wheel rotating shaft of the bicycle body 1 to drive the bicycle body 1 to move, so that the bicycle body 1 can move forward and backward, the display 14 is fixed at a proper position of the bicycle body 1 to facilitate the operation of an operator, the speed measuring module 7 is fixed at two sides of the rear wheel of the bicycle body 1 to measure the movement speed of the bicycle, the battery 4 is fixed at a proper position of the bicycle body 1 to supply power to the steering motor 12, the gyroscope 9, the balance motor 8, the display 14, the speed measuring module 7, the control system 10 and the driving system 3, and the power master switch 11 controls the on-off of the whole system, the display 14, the speed measuring module 7, the driving system 3 and the gyroscope 9 are connected with the control system 10 through control lines, and the system can be controlled through the wireless remote control device 15 and the upper computer control software 13.
The balancing oscillating device 5 is composed of an eccentric oscillating body 5.1 and balancing weights 5.2, the balancing weights 5.2 are fixed to the far end of the eccentric oscillating body 5.1, and the number of the balancing weights 5.2 can be changed according to the mass of the bicycle 1 and the change of the center of gravity.
As some possible implementations, the balancing oscillating device 5 can also be a balancing flywheel 5 ', the balancing flywheel 5' being composed of a rotating flywheel 5.1 'and a flywheel balancing weight 5.2', the number and the fixing position of the flywheel balancing weights 5.2 'on the rotating flywheel 5.1' can be changed according to the mass of the bicycle and the change of the center of gravity.
As some possible implementations, the brushless hub walking motor 6 can be a servo transmission module 6 ', the servo transmission module 6 ' is composed of a servo motor 6.1 ' and a synchronous belt transmission mechanism 6.2 ', one end of the synchronous belt transmission mechanism 6.2 ' is connected with a rear wheel shaft of the bicycle body 1, the other end is connected with an output shaft of the servo motor 6.1 ', the servo motor 6.1 ' is fixed at a proper position of the bicycle body 1, and the servo motor 6.1 ' and the synchronous belt transmission mechanism 6.2 ' drive the bicycle body 1 to move forward and backward.
As some possible implementations, the wireless remote control device 15 can be a smartphone with a handset control software installed, and the bicycle can be controlled by the control software of the smartphone.
Example 2
A control method of a self-balancing bicycle comprises the following specific steps:
a. pressing a power main switch 11 to start the system, and checking whether power supply and parameter information of each part of the system are normal or not through an interface of upper computer control software 13 on a display screen 14;
b. whether the information of the gyroscope 9 has deviation or not is checked by observing the information of the gyroscope 9 on the interface of the upper computer control software 13 and swinging the bicycle body 1, and if the information of the gyroscope 9 has deviation, the gyroscope 9 is calibrated through the interface of the upper computer control software 13;
c. starting a program through the upper computer control software 13 or the wireless remote control equipment 15, wherein at the moment, the upper computer control software 13 can read data of the gyroscope 9 and the speed measuring module 7 in real time to obtain an inclination angle theta, an inclined angular velocity lambda and a walking speed mu of the bicycle body 1, and a rotation angle delta and an angular velocity beta of the steering motor, a position phi, an angular velocity omega and an angular acceleration alpha of the balance motor are calculated according to the inclination angle theta, the inclined angular velocity lambda and the walking speed mu of the bicycle body through the established kinematic model of the bicycle;
d. the gravity center of the bicycle body 1 can return to the position right below the bicycle body by controlling the rotation angle delta and the angular velocity beta of the steering motor 12, the restoring force f of the bicycle body 1 in the left and right direction can be provided by controlling the position phi, the angular velocity omega and the angular acceleration alpha of the balancing motor 8, and the balance of the bicycle body 1 can be maintained by adjusting the gravity center of the bicycle body 1 and generating the restoring force f of the bicycle body 1 in the left and right direction, so that the self-balance of the bicycle is achieved;
e. if the mass distribution of the bicycle body 1 is changed, the parameters of the kinematic model in the step c are changed, at this time, the parameter coefficient value of the kinematic model needs to be dynamically adjusted through the upper computer control software 13 or the wireless remote control device 15 until the bicycle body 1 recovers the self-balancing capability again;
f. for different road surfaces, the restoring force f in the left and right directions of the bicycle body 1 generated in the step b can be changed by changing the number and the positions of the balancing weights 5.1 or the flywheel balancing weights 5.1 of the balancing swing device 5 or the balancing flywheel 5', so that the interference resistance and the adaptability of the self-balancing system are improved;
g. the steps a-e can enable the bicycle body 1 to realize complete self-balance including motion balance and static balance, and the bicycle can be controlled to move forwards, move backwards, accelerate and decelerate through the wireless remote control device 15.
In actual control, the upper computer control software 13 performs control according to the following kinematic equation:
wherein
Theta represents the inclination of the rear frame of the bicycle body 1, delta represents the handlebar rotation angle phirRepresenting the angle of rotation of the rear wheel, ysRepresenting the linear displacement of the balanced oscillating device 5.
Example 3
A self-balancing bicycle comprises a bicycle body, wherein the bicycle body is connected with a main controller, a detection system, a balancing system and a steering system; the detection system comprises a gyroscope, and is used for detecting the horizontal state of the vehicle body and transmitting detection information to the main controller;
the steering system comprises a steering motor, the steering motor is connected with the head of the vehicle body through a speed reducer to control the rotation angle and speed of the head;
the balancing system comprises a balancing motor, a rotary motion mechanism and a balancing weight, one end of the rotary motion mechanism is connected with the balancing weight, the other end of the rotary motion mechanism is connected with the balancing motor, and the balancing motor is electrically connected with the main controller;
the main controller processes the detection information and then generates a control signal, and the control signal is transmitted to the balance system and the steering system.
The rotary motion mechanism is an eccentric oscillating body, the balancing weight is fixed to the far end of the eccentric oscillating body, and the number of the balancing weight is adjusted according to the mass of the bicycle and the change of the center of gravity. The rotary motion mechanism is a rotary flywheel, the balancing weight and the rotation center of the rotary flywheel are at a set distance, and the number of the balancing weight is adjusted according to the mass of the bicycle and the change of the gravity center.
The vehicle body is further connected with a power supply system, and the power supply system is electrically connected with the main controller, the detection system, the balance system and the steering system and provides electric energy. The detection system further comprises a speed measuring module which is fixedly arranged on two sides of the rear wheel of the bicycle body and used for measuring the movement speed of the bicycle. The vehicle body is further connected with a traveling system, the traveling system comprises a brushless hub traveling motor, and the brushless hub traveling motor is connected with a rear wheel rotating shaft of the vehicle body.
The main controller comprises a display screen and a communication module, wherein the display screen is used for checking system parameter information, and the communication module is used for realizing remote communication with the wireless remote control equipment. The steering system further comprises a hollow speed reducer, the steering motor is connected with an input shaft of the hollow speed reducer, an output shaft of the hollow speed reducer is connected with a head rotating shaft of the vehicle body, and a base of the hollow speed reducer is fixed on the vehicle body.
A control method of a self-balancing bicycle comprises the following specific steps:
pressing down a power main switch to start the system, and checking whether power supply and parameter information of each part of the system are normal or not through a main controller;
calibrating a gyroscope of the detection system through the main controller, and reading data of the gyroscope and a speed measurement module of the detection system in real time;
the established kinematic model of the bicycle calculates the rotation angle delta and the angular velocity beta of the steering motor and the position phi, the angular velocity omega and the angular acceleration alpha of the balance motor according to the inclination angle theta, the inclined angular velocity lambda and the walking speed mu of the bicycle body;
the center of gravity of the bicycle body returns to the position right below the bicycle body by controlling the rotation angle delta and the angular speed beta of the steering motor; the restoring force f of the bicycle body in the left and right directions can be provided by controlling the position phi, the angular velocity omega and the angular acceleration alpha of the balancing motor, and the balance of the bicycle body can be maintained by adjusting the gravity center of the bicycle body and generating the restoring force f in the left and right directions of the bicycle body, so that the self-balancing of the bicycle is achieved.
The master controller controls according to the following kinematic equation:
wherein
Theta represents the rear frame inclination of the bicycle body, delta represents the handlebar rotation angle, phirRepresenting the angle of rotation of the rear wheel, ysLines representing balanced pendulumsAnd (4) displacing.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. A self-balancing bicycle is characterized by comprising a bicycle body, wherein the bicycle body is connected with a main controller, a detection system, a balancing system and a steering system; the detection system comprises a gyroscope, and is used for detecting the horizontal state of the vehicle body and transmitting detection information to the main controller;
the steering system comprises a steering motor, the steering motor is connected with the head of the vehicle body through a speed reducer to control the rotation angle and speed of the head;
the balancing system comprises a balancing motor, a rotary motion mechanism and a balancing weight, one end of the rotary motion mechanism is connected with the balancing weight, the other end of the rotary motion mechanism is connected with the balancing motor, and the balancing motor is electrically connected with the main controller;
the main controller processes the detection information and generates a control signal, and the control signal is transmitted to the balance system and the steering system;
the main controller generates a control signal after processing according to the following kinematic equation:
wherein
Theta represents the rear frame inclination of the bicycle body, delta represents the handlebar rotation angle, phirRepresenting the angle of rotation of the rear wheel, ysRepresents the linear displacement of the balanced pendulous device; m isij(θ,δ,ys) I, j — 1, …,4 represents a mass matrix of the bicycle system;
i, j, k is 1, …,4 stands for
Coefficients before the quadratic term; pi(θ,δ,ys) I ═ 1, …,4 represents the generalized force term due to gravity;
and
all represent the generalized speed of the bicycle.
2. The self-balancing bicycle of claim 1, wherein the rotary motion mechanism is an eccentric oscillating body, and a weight is fixed to a distal end of the eccentric oscillating body, the number of weights being adjusted according to the mass of the bicycle and the change of the center of gravity.
3. The self-balancing bicycle of claim 1, wherein the rotary motion mechanism is a rotating flywheel, the weight is spaced from a center of rotation of the rotating flywheel, and the number of weights is adjusted according to the mass of the bicycle and the change of the center of gravity.
4. The self-balancing bicycle of claim 1, wherein the body is further coupled to a power supply system, the power supply system being electrically coupled to the main controller, the sensing system, the balancing system, and the steering system and providing electrical power.
5. The self-balancing bicycle of claim 1, wherein the detection system further comprises a speed measuring module fixedly installed at both sides of a rear wheel of the bicycle body for measuring the movement speed of the bicycle.
6. The self-balancing bicycle of claim 1, wherein the body is further coupled to a travel system; the traveling system comprises a brushless hub traveling motor, the brushless hub traveling motor is connected with a rear wheel rotating shaft of the vehicle body, or the traveling system comprises a servo transmission module, and the servo transmission module comprises a servo motor and a synchronous belt transmission mechanism.
7. The self-balancing bicycle of claim 1, wherein the main controller comprises a display screen for viewing system parameter information and a communication module for enabling remote communication with the wireless remote control device.
8. The self-balancing bicycle of claim 1, wherein the steering system further comprises a hollow speed reducer, the steering motor is connected with an input shaft of the hollow speed reducer, an output shaft of the hollow speed reducer is connected with a head rotating shaft of the bicycle body, and a base of the hollow speed reducer is fixed on the bicycle body.
9. A control method of a self-balancing bicycle according to any one of claims 1 to 8, comprising the following steps:
pressing down a power main switch to start the system, and checking whether power supply and parameter information of each part of the system are normal or not through a main controller;
calibrating a gyroscope of the detection system through the main controller, and reading data of the gyroscope and a speed measurement module of the detection system in real time;
the established kinematic model of the bicycle calculates the rotation angle delta and the angular velocity beta of the steering motor and the position phi, the angular velocity omega and the angular acceleration alpha of the balance motor according to the inclination angle theta, the inclined angular velocity lambda and the walking speed mu of the bicycle body;
the center of gravity of the bicycle body returns to the position right below the bicycle body by controlling the rotation angle delta and the angular speed beta of the steering motor; the restoring force f of the bicycle body in the left and right directions can be provided by controlling the position phi, the angular velocity omega and the angular acceleration alpha of the balancing motor, and the balance of the bicycle body can be maintained by adjusting the gravity center of the bicycle body and generating the restoring force f in the left and right directions of the bicycle body, so that the self-balancing of the bicycle is achieved.
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| CN113021300A (en) * | 2021-04-20 | 2021-06-25 | 李星 | Modular self-balancing double-wheel quadruped robot |
| CN114872822A (en) * | 2022-05-12 | 2022-08-09 | 中国农业大学 | Bicycle self-balancing device and control system thereof |
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