CN112114588A - Balance car and control method thereof - Google Patents
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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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- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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Abstract
The invention discloses a balance car and a control method thereof, wherein the control method of the balance car comprises the following steps: acquiring input parameters of the balance car at the previous moment; acquiring state parameters of the balance car at the current moment; determining a control increment according to the target function and the state parameter of the balance car at the current moment; superposing the control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment; according to the method, the input parameter at the previous moment and the state parameter at the current moment are obtained, the possible track of the balance car under the future control input is predicted, and the extreme value solving method is used, so that the tracking error of the balance car can be effectively avoided, the limitation of the wheel rotating speed of the actual balance car can be considered, and the realizability is ensured.
Description
Technical Field
The invention relates to the technical field of balance cars, in particular to a balance car and a control method thereof.
Background
At present, most of traditional two-wheeled balance vehicles adjust the movement track according to the body posture or the gravity center position of a driver, the planning of future movement is lacked, errors of 'understanding' the intention of the driver are easily caused, the track of the two-wheeled balance vehicle deviates from the ideal value of the driver, and the two-wheeled balance vehicle cannot well run according to the preset track of the driver.
Disclosure of Invention
The invention provides a balance car with small error and a control method thereof, aiming at solving the problem that the existing balance car is easy to deviate from a preset track.
In order to achieve the above object, an aspect of the present invention provides a control method of a balance car, including:
acquiring input parameters of the balance car at the previous moment; wherein the input parameters comprise a left wheel rotation speed and a right wheel rotation speed;
acquiring state parameters of the balance car at the current moment; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius and a right wheel radius;
determining a control increment according to the target function and the state parameter of the balance car at the current moment;
and superposing the control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
Optionally, the objective function is shown as (1),
wherein minJ represents the minimization objective function, NpTo predict the time domain, NcTo control the time domain, yt+itFor the predicted i-th system output state, χr(i) For an ideal trajectory of reference, Δ ut+itFor the required control input increment, Q and R are corresponding weight matrixes;
optionally, the determining a control increment according to the objective function and the state parameter of the balance car at the current time further includes:
determining a state equation of the balance vehicle according to the left wheel rotating speed and the right wheel rotating speed of the balance vehicle at the current moment; wherein the state equation is shown in (2),
determining an output equation of the balance car according to the state equation of the balance car; wherein the output method is shown as (3),
wherein:
Δu＝uk-uk-1
0i×jan all-zero matrix representing i rows and j columns; i isiRepresenting an identity matrix of order i, alphak+1＝[χk+1,uk]TT is sampling time;
determining a control increment according to the reference track, the output equation and the output predicted value at the next moment; wherein the output predicted value at the next moment is shown as (4),
wherein:
Y＝[yt+1|t yt+2|t … yt+Np|t]T
optionally, the determining a control increment according to the reference trajectory and the predicted output value of the system at the next time further includes:
determining a state predicted value at the next moment according to the reference track;
determining an output predicted value at the next moment according to the state predicted value and the output equation;
and determining a control increment according to the output predicted value and the objective function.
Optionally, the step of superposing the control increment and the input parameter of the balance car at the previous time to obtain the input parameter of the balance car at the current time further includes:
determining a series of future control increments according to the objective function, the control increment constraint and the control quantity constraint; wherein the control increment constraint is Deltaumin≤Δut+i|t≤Δumax i＝0,1,...,NcThe controlled variable is constrained to umin≤ut+i|t≤umaxi＝1,...,Nc；
Taking a first term of a vector in the series of control increments as an actual control increment;
and superposing the actual control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
On the other hand, the invention also provides a balance car, which is characterized by comprising:
the first acquisition unit is used for acquiring input parameters of the balance car at the previous moment; wherein the input parameters comprise a left wheel rotation speed and a right wheel rotation speed;
the second acquisition unit is used for acquiring the state parameters of the balance car at the current moment; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius, a right wheel radius, a left wheel rotating speed and a right wheel rotating speed;
the determining unit is used for determining a control increment according to the target function and the state parameter of the balance car at the current moment;
and the superposition unit is used for superposing the control increment and the input parameters of the balance car at the previous moment to obtain the input parameters of the balance car at the current moment.
In the above balance car, optionally, the objective function is as shown in (1),
wherein minJ represents the minimization objective function, NpTo predict the time domain, NcTo control the time domain, yt+i|tFor the predicted i-th system output state, χr(i) For an ideal trajectory of reference, Δ ut+i|tFor the required control input increment, Q and R are corresponding weight matrixes;
in the above balance vehicle, optionally, the determining a control increment according to the objective function and the state parameter of the balance vehicle at the current time further includes:
determining a state equation of the balance vehicle according to the left wheel rotating speed and the right wheel rotating speed of the balance vehicle at the current moment; wherein the state equation is shown in (2),
determining an output equation of the balance car according to the state equation of the balance car; wherein the output method is shown as (3),
wherein:
Δu＝uk-uk-1
0i×jan all-zero matrix representing i rows and j columns; i isiRepresenting an identity matrix of order i, alphak+1＝[χk+1,uk]TT is sampling time;
determining a control increment according to the reference track, the output equation and the output predicted value at the next moment; wherein the output predicted value at the next moment is shown as (4),
wherein:
Y＝[yt+1|t yt+2|t … yt+Np|t]T
in the above balance vehicle, optionally, the determining a control increment according to the reference trajectory and the predicted output value of the system at the next time further includes:
determining a state predicted value at the next moment according to the reference track;
determining an output predicted value at the next moment according to the state predicted value and the output equation;
and determining a control increment according to the output predicted value and the objective function.
In the above balance car, optionally, the superimposing the control increment and the input parameter of the balance car at the previous time to obtain the input parameter of the balance car at the current time further includes:
determining a series of future control increments according to the objective function, the control increment constraint and the control quantity constraint; wherein the control increment constraint is Deltaumin≤Δut+i|t≤Δumax i＝0,1,...,NcThe controlled variable is constrained to umin≤ut+i|t≤umaxi＝1,...,Nc；
Taking a first term of a vector in the series of control increments as an actual control increment;
and superposing the actual control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
Compared with the prior art, the invention has the beneficial effects that: according to the method, the input parameter at the previous moment and the state parameter at the current moment are obtained, the possible track of the balance car under the future control input is predicted, and the extreme value solving method is used, so that the tracking error of the balance car can be effectively avoided, the limitation of the wheel rotating speed of the actual balance car can be considered, and the realizability is ensured.
Drawings
FIG. 1 is a flow chart of a balance vehicle control method of the present invention;
FIG. 2 is a diagram for analyzing the motion state of the balance vehicle according to the present invention;
fig. 3 is a structural view of the balance car of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Referring to fig. 1 and 2, the present embodiment provides a control method of a balance car, including the steps of:
s10: acquiring input parameters of the balance car at the previous moment;
specifically, the input parameters of the balance car at a moment are acquired, and the input parameters comprise the rotating speed of the left wheel and the rotating speed of the right wheel.
S20: acquiring state parameters of the balance car at the current moment; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius, a right wheel radius, a left wheel rotating speed and a right wheel rotating speed;
s30: determining a control increment according to the target function and the state parameter of the balance car at the current moment;
specifically, the spatial position of the two-wheel balance car is described by a transverse position x, a longitudinal position y and a course angle theta, the distance between the left wheel and the right wheel of the balance car is L, the radius of the wheels is R, and the speed and the rotating speed of the left wheel are VlAnd ωlIndicating, the wheel speed and rotational speed of the right wheel by VrAnd ωrRepresents;
the relationship between the wheel speed and the rotating speed of the left wheel and the right wheel of the two-wheel balance vehicle is as follows:
the speed at the mass center of the two-wheeled balance car is as follows:
and the relation between the space position and the vehicle speed at the position of the mass center of the two-wheel balance vehicle is as follows:
in the formula (I), the compound is shown in the specification,
the speed of the mass center of the balance car along the direction of the x axis is obtained,
the speed of the mass center of the balance car along the y-axis direction is shown, V is the speed of the mass center of the balance car, and theta is a course angle.
The left wheel and the right wheel of the two-wheel balance vehicle relative to the instantaneous rotation center O1The rotational angular velocity of (a) is:
in the formula IlIndicating the distance of the left wheel from the instantaneous centre of rotation,/rIndicating the distance of the right wheel from the instantaneous center of rotation.
The following steps are provided:
ll-lr＝L (5)
wherein L is the distance between the left and right wheels.
The course angular speed of the two-wheeled balance car can be solved according to the formulas (4) and (5) as follows:
therefore, x ═ x, y, θ are selected]TAs the system state of the two-wheeled balance vehicle, the left and right wheel rotation speed u ═ ωl,ωr]TAs system input, the system equation of the two-wheel balance vehicle is as follows:
the abbreviation is:
wherein f () is a nonlinear state transfer function;
linearizing equation (8) to obtain:
wherein:
then discretizing the formula (9), and setting the sampling time as T, the discrete state equation is as follows:
wherein:
selecting a new state alphak+1＝[χk+1,uk]TConstructing a new state equation about the two-wheeled balance vehicle according to the formula (12):
the output is the position and the course angle [ x, y, theta ] of the two-wheeled balance car]TThus, an output equation is constructed as:
wherein:
Δu＝uk-uk-1 (19)
note: 0i×jAn all-zero matrix representing i rows and j columns; i isiRepresenting an identity matrix with the order i;
the planned reference track is chi in the track tracking control of the two-wheeled balance carr(k)＝[xr(k),yr(k),θr(k)]TPredicting the state of the kth step in the future at the current time t is recorded as alphat+k|tThus in the current state αtAnd future NcPossible control input in step
Next, future Np(Np≥Nc) The state prediction value of the system in the step is as follows:
……
according to the formulas (16), (20), (21) and (22), the future N of the two-wheeled balance vehicle can be obtainedp(Np≥Nc) The output prediction value of the intra-step system is as follows:
wherein:
Y＝[yt+1|t yt+2|t … yt+Np|t]T (24)
by establishing the following objective function:
wherein minJ represents the minimization objective function, NpTo predict the time domain, NcTo control the time domain, yt+i|tFor the predicted i-th system output state, χr(i) For an ideal trajectory of reference, Δ ut+i|tFor the required control input increment, Q and R are the corresponding weight matrices.
S40: superposing the control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment;
specifically, consider a control increment constraint and a control quantity constraint:
Δumin≤Δut+i|t≤Δumax i＝0,1,...,Nc (28)
umin≤ut+i|t≤umax i＝1,...,Nc (29)
by solving the extremum problem of equation (27) with a computer, a future possible series of control increments can be obtained:
taking the first term of the vector in the formula (30) as the actual control increment, and according to the control input u of the previous stept-1And obtaining the actual control input of the current two-wheel balance vehicle:
and when the vehicle enters the next sampling moment, repeating the process and continuously solving the control quantity of the rotating speed of the left wheel and the right wheel.
The control method can effectively avoid the tracking error of the balance car by predicting the possible track of the future balance car under the control input and applying the method of extreme value solution, and can also consider the limitation of the wheel rotating speed of the actual balance car and ensure the realizability.
In some other embodiments, the present invention provides a balance vehicle, as shown in fig. 3, the balance vehicle includes a first obtaining unit 10, a second obtaining unit 20, a determining unit 30 and a superimposing unit 40, wherein the first obtaining unit is configured to obtain the left wheel rotation speed and the right wheel rotation speed at a time on the balance vehicle, and the input parameters include the left wheel rotation speed and the right wheel rotation speed.
The second obtaining unit 20 is configured to obtain a state parameter of the balance car at the current time; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius, a right wheel radius, a left wheel rotating speed and a right wheel rotating speed;
the determining unit 30 is configured to determine the control increment according to the objective function and the state parameter of the balance car at the current time, where the specific determining method is described in detail in step S30, and is not described again in this embodiment.
The superimposing unit 40 is configured to superimpose the control increment determined by the determining unit 30 and the input parameter of the balance car at the previous time obtained by the first obtaining unit 10 to obtain the input parameter of the balance car at the current time, and please refer to step S40 in the above embodiment of the balance car control method for a specific superimposing method and step, which is not described in detail in this embodiment.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of a balance car is characterized by comprising the following steps:
acquiring input parameters of the balance car at the previous moment; wherein the input parameters comprise a left wheel rotation speed and a right wheel rotation speed;
acquiring state parameters of the balance car at the current moment; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius and a right wheel radius;
determining a control increment according to the target function and the state parameter of the balance car at the current moment;
and superposing the control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
2. The control method according to claim 1, characterized in that: the objective function is shown as (1),
wherein minJ represents the minimization objective function, NpTo predict the time domain, NcTo control the time domain, yt+i|tFor the predicted i-th system output state, χr(i) For an ideal trajectory of reference, Δ ut+i|tFor the required control input increment, Q and R are corresponding weight matrixes;
3. the control method according to claim 1, wherein the determining a control increment according to the objective function and the state parameter of the balance car at the current moment further comprises:
determining a state equation of the balance vehicle according to the left wheel rotating speed and the right wheel rotating speed of the balance vehicle at the current moment; wherein the state equation is shown in (2),
determining an output equation of the balance car according to the state equation of the balance car; wherein the output method is shown as (3),
wherein:
Δu＝uk-uk-1
0i×jan all-zero matrix representing i rows and j columns; i isiRepresenting an identity matrix of order i, alphak+1＝[χk+1,uk]TT is sampling time;
determining a control increment according to the reference track, the output equation and the output predicted value at the next moment; wherein the output predicted value at the next moment is shown as (4),
wherein:
Y＝[yt+1|t yt+2|t…yt+Np|t]T
4. the control method according to claim 2 or 3, wherein the determining of the control increment according to the reference track and the output predicted value of the system at the next moment further comprises:
determining a state predicted value at the next moment according to the reference track;
determining an output predicted value at the next moment according to the state predicted value and the output equation;
and determining a control increment according to the output predicted value and the objective function.
5. The control method according to claim 4, wherein the step of superposing the control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment further comprises the following steps:
determining a series of future control increments according to the objective function, the control increment constraint and the control quantity constraint; wherein the control increment constraint is Deltaumin≤Δut+i|t≤Δumax i＝0,1,...,NcThe controlled variable is constrained to umin≤ut+i|t≤umax i＝1,...,Nc；
Taking a first term of a vector in the series of control increments as an actual control increment;
and superposing the actual control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
6. A balance car, characterized by comprising:
the first acquisition unit is used for acquiring input parameters of the balance car at the previous moment; wherein the input parameters comprise a left wheel rotation speed and a right wheel rotation speed;
the second acquisition unit is used for acquiring the state parameters of the balance car at the current moment; wherein the state parameters comprise a course angle, a left wheel and right wheel distance, a left wheel radius, a right wheel radius, a left wheel rotating speed and a right wheel rotating speed;
the determining unit is used for determining a control increment according to the target function and the state parameter of the balance car at the current moment;
and the superposition unit is used for superposing the control increment and the input parameters of the balance car at the previous moment to obtain the input parameters of the balance car at the current moment.
7. The balance car of claim 6, wherein: the objective function is shown as (1),
wherein minJ represents the minimization objective function, NpTo predict the time domain, NcTo control the time domain, yt+i|tFor the predicted i-th system output state, χr(i) For an ideal trajectory of reference, Δ ut+i|tFor the required control input increment, Q and R are corresponding weight matrixes;
8. the balance car of claim 6, wherein the determining a control increment based on the objective function and a state parameter of the balance car at the current time further comprises:
determining a state equation of the balance vehicle according to the left wheel rotating speed and the right wheel rotating speed of the balance vehicle at the current moment; wherein the state equation is shown in (2),
determining an output equation of the balance car according to the state equation of the balance car; wherein the output method is shown as (3),
wherein:
Δu＝uk-uk-1
0i×jan all-zero matrix representing i rows and j columns; i isiRepresenting an identity matrix of order i, alphak+1＝[χk+1,uk]TT is sampling time;
determining a control increment according to the reference track, the output equation and the output predicted value at the next moment; wherein the output predicted value at the next moment is shown as (4),
wherein:
Y＝[yt+1|t yt+2|t…yt+Np|t]T
9. the balance car of claim 7 or 8, wherein the determining of the control increment according to the reference track and the output predicted value of the system at the next moment further comprises:
determining a state predicted value at the next moment according to the reference track;
determining an output predicted value at the next moment according to the state predicted value and the output equation;
and determining a control increment according to the output predicted value and the objective function.
10. The balance car of claim 9, wherein the superimposing the control increment and the input parameter of the balance car at the previous moment obtains the input parameter of the balance car at the current moment, further comprising: determining a series of future control increments according to the objective function, the control increment constraint and the control quantity constraint;
wherein the control increment constraint is Deltaumin≤Δut+i|t≤Δumax i＝0,1,...,NcThe controlled variable is constrained to umin≤ut+i|t≤umax i＝1,...,Nc；
Taking a first term of a vector in the series of control increments as an actual control increment;
and superposing the actual control increment and the input parameter of the balance car at the previous moment to obtain the input parameter of the balance car at the current moment.
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