CN117073652A - Balance control system and method for momentum wheel rotating speed adjusting rod of intelligent gyroscope - Google Patents
Balance control system and method for momentum wheel rotating speed adjusting rod of intelligent gyroscope Download PDFInfo
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Abstract
The application relates to a momentum wheel rotating speed regulating rod balance control system of an intelligent inertia measurement unit, which comprises an inertia measurement unit, a magnetic encoder, a momentum wheel and a main control board; the application also relates to a balance control method, which comprises the following steps: initializing a system, performing self-checking on the system, and checking whether the indicator lamp is normally on; reading the angular velocity and angle from the gyroscope; calculating attitude information and angle information; the momentum wheel rotates; the indicator light flashes; a predetermined program is executed. According to the application, the acquired data is processed in real time and intelligently through linear feedback, and different environmental parameters are automatically adjusted; the maintenance cost is reduced, the portability and the applicability are improved, the configuration is quick and the use is flexible; the device has higher adaptability and reliability, and can normally operate in various complex environments; fast adaptation and stable performance in different environments; the operation load is lightened, and the performance stability and reliability of the system are improved.
Description
Technical Field
The application relates to the technical field of gyroscope balance control, in particular to a momentum wheel rotating speed adjusting rod balance control system and method of an intelligent gyroscope.
Background
The balance of the rod stems from a fundamental physical problem, namely: how the rod remains balanced. Balancing requires consideration of a range of physical factors such as rod mass, shape and support force. Specifically, a simple lever is balanced in that its center of gravity is located directly above the supporting force, and the magnitude of the supporting force is equal to that of the gravity, that is, forces in all directions in the horizontal direction are equal, so that the lever is maintained in a stable and balanced state.
The conventional system uses a classical feedback control algorithm, which consists of three components, namely a proportion (P), an integral (I) and a derivative (D), hereinafter referred to as PID, for controlling the stability and response speed of the system. The PID control of the rod can control the balance of the rod rapidly, accurately and stably. The position of the rod is regulated according to the output of the proportional, integral and differential controllers by measuring the difference (error) between the deviation angle of the rod and the target angle in real time, and finally the rod is kept in a vertical state.
Specifically, the proportional controller generates a control signal proportional to the error according to the real-time error; the integral controller accumulates errors and generates a control signal accumulated along with time; the differential controller generates a time-varying control signal based on the error rate. After the output signals of the three controllers are weighted, the output signals are used as control input quantity of the rod, so that the rod can quickly and stably return to the vertical state.
For example, when the rod is inclined to the right, the proportional controller generates a leftward control signal for counteracting the inclination angle of the rod; the integral controller generates a control signal which gradually increases along with time and is used for eliminating the continuous error of the rod; the differential controller generates a control signal for adjusting the position of the stick more quickly based on the rate of change of the tilt angle of the stick.
And part of the traditional systems utilize nonlinear control, and the nonlinear control of the rod is a control method aiming at the nonlinear system, so that the problem of rod balance control can be effectively solved. Unlike the conventional linear control method, the nonlinear control method not only considers the local characteristics of the system, but also considers the global dynamic characteristics of the whole system, thereby realizing the balance control of the rod in a wider scene.
Aiming at nonlinear control of the rod, a dynamic model of the rod is firstly required to be established, and a proper control strategy is selected according to the characteristics of the model. Taking a double-swing-rod as an example, the motion state of the rod can be described by angles of two degrees of freedom, so that a dynamic equation of the rod can be established by using a state space method. According to a system dynamic equation established by the state space model, different nonlinear control algorithms can be applied to realize balance control of the rod.
One common nonlinear control method is a control method based on a feedback linearization technique. The method converts a nonlinear system into a linear system through a feedback linearization technology, and then designs and optimizes the nonlinear system by applying a linear control method. Specifically, according to the dynamic characteristics of the pole, an appropriate feedback linearization function, such as an arctangent function, a hyperbolic tangent function, and the like, can be selected to cancel the nonlinear term of the pole, so that the dynamic equation of the system approximates to a linear system, and then a classical linear control method is applied to design a controller based on the linear system.
In addition, there are other nonlinear control methods, such as adaptive control, sliding mode control, neural network control, etc., which can effectively cope with the nonlinear characteristics of the rod, and realize the rapid stable control of the rod. However, it should be noted that the parameter adjustment and optimization of the nonlinear control algorithm are difficult, and in particular, intensive research and experimental verification are required.
In summary, the application provides a more efficient, accurate and stable rod balancing dynamic control system by combining the traditional control method with the advanced intelligent algorithm. The system can be widely applied to the fields of industrial automation, robot technology and the like, and has important practical application value.
The defects of the prior art are that:
1. the system is highly modularized, the applicability and the usability of the system are improved, the resource waste caused by the integral replacement of a part of the system due to damage is avoided, an interface is reserved for the updating iteration of the subsequent system, and the modules can be selected according to the idea of a user.
2. The traditional system is more complex, most of the system is not portable, and the system is small, light and practical, can be disassembled and walked without occupying a large floor area.
3. The traditional balance system balances the fixed rod, and the physical parameters of the rod are unchangeable, so that the system can replace parts of different types according to the mass, the size and the like of the rod, and the dynamic balance adjustment of the rod is realized.
4. The control method of the traditional balance system generally adopts a classical PID control method, and the dynamic response capability of the method for a complex nonlinear system is limited. The nonlinear control method is introduced into the patent, so that the nonlinear characteristics of the rod can be better dealt with, and the control precision and stability of balance are improved.
5. Conventional systems, when faced with local and global dynamics, lack consideration and adaptability to different characteristics. The system can build a corresponding model according to the dynamic characteristics of the rod and select a proper control method so as to realize the optimization of local and global dynamic characteristics.
6. The traditional balance adjusting system rarely adopts intelligent control, and can not adjust own control parameters according to environmental changes and requirements. The system adopts an intelligent algorithm, can carry out self-adaptive adjustment according to real-time measurement data and environmental conditions, and improves the flexibility and adaptability of control.
Disclosure of Invention
Aiming at the problems, the application provides a balance control system and a balance control method for a momentum wheel rotating speed regulating rod of an intelligent gyroscope, which aim to acquire data through linear feedback in real time and intelligent processing, so that the system automatically regulates parameters of different environments; the maintenance cost is reduced, the portability and the applicability of the system are improved, and the use of quick configuration and flexibility is realized; the device has higher adaptability and reliability, and can normally operate in various complex environments; fast adaptation and stable performance in different environments; greatly reducing the operation burden and improving the performance stability and reliability of the system; so that the user can easily get up with his hands and operate the system conveniently.
In order to solve the problems, the technical scheme provided by the application is as follows:
a momentum wheel rotating speed adjusting rod balance control system of an intelligent inertia measurement unit is characterized in that: comprises an inertial measurement unit, a magnetic encoder, a momentum wheel and a main control board, wherein:
the inertia measurement unit comprises an X axis, a Y axis and a Z axis, is used for transmitting the angle data measured by the inertia measurement unit to the main control board, and carries out different pulse width modulation distribution on 3 brushless motors according to preset conditions so as to realize the speed increasing or inhibiting effect of the brushless motors;
the magnetic encoder is used for counting the brushless motor and transmitting data to the main control board so as to realize speed control of the brushless motor;
the momentum wheel is used for determining the size of the rod which can be controlled by the control system through the self mass and the maximum value of the mass, and realizing the dynamic balance control of the rod by adjusting the rotating speed;
the main control board is used for processing data from the inertial measurement unit and the magnetic encoder in real time, performing quick response and making adjustment.
Preferably, the main control board adopts an ESP32 chip; the inertial measurement unit adopts a gyroscope; the magnetic encoder adopts an AS5600 magnetic encoder.
Preferably, the gyroscope adopts an MPU6050 gyroscope;
the number of the momentum wheels is 3, and the momentum wheels are respectively a first momentum wheel, a second momentum wheel and a third momentum wheel according to the symmetry of the lower vertex of the cube; and a plane I formed by the first momentum wheel, the second momentum wheel and the third momentum wheel is parallel to the bottom surface II.
Preferably, a plane III formed by an X axis and a Y axis of the gyroscope is parallel to the bottom surface II;
the intersection points of the X axis, the Y axis and the Z axis of the gyroscope are projected onto the bottom surface II and coincide with the supporting point;
the included angles between the sides of the cube passing through the supporting points and the bottom surface II are 35.3 degrees respectively;
the middle points of the first momentum wheel, the second momentum wheel and the third momentum wheel are projected onto the bottom surface II and respectively form line segments with the fulcrums, and the included angles between the line segments are 120 degrees.
Preferably, the Y-axis of the gyroscope is projected onto the bottom face II and passes through the fulcrum;
the rotating speed direction of the first momentum wheel is projected onto the bottom surface II from the midpoint of the first momentum wheel and is perpendicular to the fulcrum to form a line segment;
the rotation speed direction of the second momentum wheel is projected onto the bottom surface II from the midpoint of the second momentum wheel and is perpendicular to the fulcrum to form a line segment;
and the rotation speed direction of the third dynamic wheel is projected onto the bottom surface II from the midpoint of the third dynamic wheel and is perpendicular to the fulcrum to form a line segment.
Preferably, the angle of the cube is expressed by the following formula:
θ＝angle x -angle e
wherein: θ is the angle of the cube; angle of x An angle value measured by the gyroscope along the X-axis direction; angle of e An angle value measured on the same plane for the rotation axis of the momentum wheel and the balance edge;
the angular velocity of the cube is expressed as:
θ'＝gyro x
wherein: θ' is the angular velocity of the cube; gyro x Is the angular velocity obtained by the gyroscope along the X-axis direction;
preferably, the angular velocity of the momentum wheel is expressed as:
w'＝motorspeed x
wherein: w' is the angular velocity of the momentum wheel; motorspeed x A rotational speed for the momentum wheel;
the relationship between the rotational speed of the first momentum wheel, the rotational speed of the second momentum wheel, and the rotational speed of the third momentum wheel is expressed as follows:
wherein: s is(s) x 、s y 、s z Are all intermediate variables;
s ch1 for the rotational speed of the first momentum wheel, the following expression is used:
s ch2 for the rotational speed of the second momentum wheel, the expression is as follows:
s ch3 for the rotational speed of the third momentum wheel, the expression is as follows:
wherein: l (L) x 、L y 、L z Are all intermediate variables, expressed as follows:
wherein: gyro y Is the angular velocity obtained by the gyroscope along the Y-axis direction; gyro z The angular velocity is obtained along the Z-axis direction through the gyroscope; angle of y For the gyroscope edgeAn angle value measured in the Y-axis direction; angle of z An angle value measured by the gyroscope along the Z-axis direction; angle of xe A preset expected angle value for the X axis; angle of ye A preset expected angle value for the Y axis; angle of ze A preset expected angle value for the Z axis; k (k) xp Is to pair L x The angle error of (2) affects the correction coefficient; k (k) xv For L x The angular velocity of (a) affects the correction coefficient; k (k) yp Is to pair L y The angle error of (2) affects the correction coefficient; k (k) yv Is to pair L y The angular velocity of (a) affects the correction coefficient; k (k) zp Is to pair L z The angle error of (2) affects the correction coefficient; k (k) zv Is to pair L z The angular velocity of (a) affects the correction coefficient; k (k) xs 、k ys 、k zs Are custom parameters.
A method for controlling balance of a momentum wheel rotating speed regulating lever of an intelligent gyroscope by utilizing the balance control system of the momentum wheel rotating speed regulating lever of the intelligent gyroscope comprises the following steps:
s100, initializing a system, performing self-checking on the system, and checking whether an indicator lamp is normally on; and then according to the self-checking result and the checking result, the following operations are performed:
if the self-checking is successful and the indicator light is normally on, executing S200;
if the self-test is unsuccessful or the indicator light is not normally on, returning to and executing S100 again;
s200, reading the angular speed and the angle from the gyroscope; then calculating according to the angular speed and the angle to obtain attitude information and angle information of the system; then checking whether the gyroscope is within a manually preset maximum error; then, according to the inspection result, the following operations are made:
if the gyroscope is within the maximum error, performing S300;
returning to and executing S100 again if the gyroscope is not within the maximum error;
s300, rotating the momentum wheel; the indicator lamp flashes; the execution of the predetermined program is started so that the entire system is kept dynamically balanced without being affected by external conditions.
Preferably, the system initialization in S100 includes system clock initialization, serial port initialization, gyroscope initialization, and timer initialization.
Preferably, when S300 is executed, a system protection procedure and a system debugging and optimizing procedure are also executed simultaneously;
wherein:
the system protection flow comprises overcurrent protection, overvoltage protection and overtemperature protection;
the system debugging and optimizing process comprises parameter adjustment, algorithm optimization and calibration adjustment.
Compared with the prior art, the application has the following advantages:
1. the application obtains data through linear feedback in real time and intelligent processing, so that the system automatically adjusts parameters of different environments.
2. By dividing the system into a plurality of independent modules, even if one of the modules is damaged or fails, only the module needs to be replaced without the need for overall replacement of the system. This not only reduces maintenance costs, but also improves portability and applicability of the system. The user can easily add or delete modules according to the needs, so that the quick configuration and the flexible use are realized.
3. The application is also equipped with advanced adaptive algorithms that can optimize parameter adjustment in real time according to changes in different environments and input data. The intelligent feedback system enables the system to have higher adaptability and reliability and can normally operate in various complex environments.
4. The application also adopts advanced algorithm to improve technical effect. Through deep learning, data mining and other technologies, the method can analyze and predict the data more accurately, so that more accurate parameter adjustment and optimization are realized. This efficient algorithm allows the system to adapt quickly and provide stable performance in different environments.
5. The application also has the characteristic of high intelligence. By utilizing artificial intelligence technology, we can realize autonomous learning and autonomous decision making capability of the system. The system can automatically adjust and optimize the parameter setting of the system according to the external environment and the change of input data so as to achieve better working effect. The intelligent characteristic greatly reduces the operation burden and improves the performance stability and reliability of the system.
6. The application also focuses on the improvement of user experience. According to the application, the requirements and the use habits of the user are considered in the design process, so that the operation interface of the system is friendly and concise, the functional layout is reasonable, and the user can easily and conveniently operate the system. Meanwhile, the application also provides detailed use description and technical support, so that the problem encountered by a user in the use process can be solved in time.
Drawings
FIG. 1 is a schematic diagram of the system;
FIG. 2 is a plan view of the momentum wheel position of the present system;
FIG. 3 is a plan view of the relationship between momentum wheels;
FIG. 4 is a plan graph of the result of an operation based on the relationship of FIG. 3;
FIG. 5 is an experimental flow chart of the present system;
FIG. 6 is a basic structural framework of the present system;
fig. 7a and 7b are physical diagrams of the present system.
Wherein: 1 denotes a gyroscope, CH1 denotes a first momentum wheel, CH2 denotes a second momentum wheel, CH3 denotes a third momentum wheel, 2.plane I, 3.bottom plane II, 4.plane III,5 denotes the lower vertex of a cube;
in fig. 3, ch1_s represents the first momentum wheel CH1 moving in its direction to the ch1_s' position; ch2_s represents the movement of the second momentum wheel CH2 in its direction to the ch2_s' position; ch3_s represents the movement of the third power wheel CH3 in its direction to the ch3_s' position;
in FIG. 4, L_Z, -L_ X, L _X, -L_ Y, L _Y are three-dimensional coordinates; L_CH1' represents the momentum wheel moving in its direction to the L_CH1 position; L_CH2' represents the momentum wheel moving in its direction to the L_CH2 position; l_ch3' denotes the momentum wheel moving in its direction to the l_ch3 position; .
Detailed Description
The present application is further illustrated below in conjunction with specific embodiments, it being understood that these embodiments are meant to be illustrative of the application and not limiting the scope of the application, and that modifications of the application, which are equivalent to those skilled in the art to which the application pertains, fall within the scope of the application defined in the appended claims after reading the application.
It should be noted in advance that the application adopts a novel Cubli in the inverted pendulum system; the Cubli has two unique features: one is its relatively small footprint; another feature is that it can jump from a rest position without any external support. And 6 faces of the cube are the same, any vertex can be directly used as a balance point, and any side can be used as a balance side.
It is further to be noted that the object of the present application is to achieve an easily integrated, modularly implantable system, whereby stable and reliable fittings are chosen on the sensor and the base fitting.
As shown in fig. 1, a balance control system for a momentum wheel rotating speed adjusting lever of an intelligent inertial measurement unit is characterized in that: comprises an inertial measurement unit, a magnetic encoder, a momentum wheel and a main control board, wherein:
the inertial measurement unit, i.e. the IMU, comprises an X axis, a Y axis and a Z axis and is used for transmitting the angle data measured by the IMU to the main control board, and carrying out different PWM pulse width modulation distribution on 3 brushless motors according to preset conditions so as to realize the increase or inhibition effect on the speed of the brushless motors.
In this embodiment, the inertial measurement unit employs a gyroscope 1.
In this embodiment, the gyroscope 1 employs an MPU6050 gyroscope 1.
It should be noted that, the MPU6050 gyroscope 1 is a global first-style integrated 6-axis motion processing component, and is internally provided with a 3-axis gyroscope 1 and a 3-axis acceleration sensor, and comprises a second IIC interface, which can be used for connecting an external magnetic sensor, and the complete 9-axis attitude fusion calculation data can be output to an application end through the main IIC interface by utilizing a hardware acceleration engine with a Digital Motion Processor (DMP).
The magnetic encoder is used for counting the brushless motor and transmitting data to the main control board so as to realize the speed control of the brushless motor.
In this particular embodiment, the AS5600 magnetic encoder is used AS the magnetic encoder.
It is noted that AS5600 is an easily programmable magnetic rotary position sensor with a 12-bit high resolution analog or PWM output. The non-contact module can detect the absolute angle of rotation of the radial magnetic axis of the magnet. AS5600 is designed for non-contact potentiometer applications, its robust design eliminates the effects of external stray magnetic fields.
The main control board is used for processing data from the inertial measurement unit and the magnetic encoder in real time, performing quick response and making adjustment.
In this embodiment, the main control board uses an ESP32 chip.
The ESP32 chip has stable performance, and the working temperature ranges from minus 40 ℃ to +125 ℃; the integrated self-calibration circuit realizes dynamic voltage adjustment, can eliminate the defects of an external circuit and adapt to the change of external conditions, and has the advantages of small volume, low power consumption, high cost performance, high response speed and the like.
The momentum wheel is used for determining the size of the rod which can be controlled by the control system through the self mass and the maximum value of the mass, and the dynamic balance control of the rod is realized through regulating the rotating speed.
It should be noted that the momentum wheel is one of the important components, and it is necessary to determine the size of the lever that can be controlled by the present control system and the maximum value of the mass by its own mass.
As shown in fig. 2, in this embodiment, there are 3 momentum wheels, which are a first momentum wheel CH1, a second momentum wheel CH2, and a third momentum wheel CH3, respectively; the plane I2 formed by the first momentum wheel CH1, the second momentum wheel CH2 and the third momentum wheel CH3 is parallel to the bottom surface II 3.
In this embodiment, the first momentum wheel CH1, the second momentum wheel CH2, and the third momentum wheel CH3 are symmetrical according to the lower vertex 5 of the cube; the lower vertex 5 of the cube is one of the equilibrium points of the rod.
As shown in fig. 7a to 7b, it should be noted that the rod belongs to a detachable rod, which means that the rod can be detached and replaced according to actual needs so as to adapt to different application scenes and requirements. This design flexibility allows for greater adjustability and flexibility in the system.
In the present application, the current posture is assumed to be a point balance posture, and the point O is assumed to be a fulcrum O.
In this embodiment, a line segment formed by the midpoint of the first momentum wheel CH1 projected onto the bottom surface II3 and the fulcrum O is OCH1; the midpoint of the second momentum wheel CH2 is projected onto the bottom surface II3, and a line segment formed by the midpoint and the fulcrum O is OCH2; the line segment formed by the middle point of the third dynamic wheel CH3 projected onto the bottom surface II3 and the fulcrum O is OCH3.
The middle point of the first momentum wheel CH1, the middle point of the second momentum wheel CH2 and the middle point of the third momentum wheel CH3 are projected onto the bottom surface II3 and respectively form line segments with the supporting point O, and the included angles between the line segments are 120 degrees.
That is, the included angles of OCH1, OCH2 and OCH3 are 120 degrees.
In this embodiment, a plane III4 formed by the X axis and the Y axis of the gyroscope 1 is parallel to the bottom plane II 3.
In this embodiment, the intersection point O1 of the X axis, Y axis, and Z axis of the gyroscope 1 is projected onto the bottom plane II3 to coincide with the fulcrum O.
In this embodiment, the Y axis of the gyroscope 1 is projected onto the bottom face II3, and passes through the fulcrum O.
It should be noted that, therefore, a rectangular coordinate system is established through the fulcrum O, and the Y axis of the rectangular coordinate system is parallel to the Y axis of the IMU; from this, it can be seen that:
the rotation speed direction of the first momentum wheel CH1 is perpendicular to a line segment OCH1 formed by projecting the midpoint of the first momentum wheel CH1 onto the bottom surface II3 and the fulcrum O.
The rotation speed direction of the second momentum wheel CH2 is perpendicular to a line segment OCH2 formed by projecting the midpoint of the second momentum wheel CH2 onto the bottom surface II3 and the fulcrum O.
The rotation speed direction of the third dynamic wheel CH3 is perpendicular to a line segment OCH3 formed by the pivot O and the midpoint of the third dynamic wheel CH3 projected onto the bottom surface II 3.
Thus, fig. 3 can be obtained after the parallel movement to pass through the fulcrum O, respectively.
In this embodiment, the sides of the cube passing through the pivot point O each have an angle of 35.3 ° with the bottom surface II 3.
As shown in fig. 3, in this embodiment, the angle of the cube is expressed by formula (1):
θ＝angle x -angle e (1)
wherein: θ is the angle of the cube; angle of x An angle value measured along the X-axis direction for the gyroscope 1; angle of e Is the angle value measured on the same plane of the rotation axis of the momentum wheel and the balance edge.
The angular velocity of the cube is expressed by formula (2):
θ'＝gyro x (2)
wherein: θ' is the angular velocity of the cube; gyro x Is the angular velocity obtained by the gyroscope 1 in the X-axis direction.
In this particular embodiment, the angular velocity of the momentum wheel is expressed by the formula (3):
w'＝motorspeed x (3)
wherein: w' is the angular velocity of the momentum wheel; motorspeed x Is the rotational speed of the momentum wheel.
The relationship among the rotational speed of the first momentum wheel CH1, the rotational speed of the second momentum wheel CH2, and the rotational speed of the third momentum wheel CH3 is expressed by the expression (4):
wherein: s is(s) x 、s y 、s z Are intermediate variables.
S as shown in FIG. 4 ch1 The rotational speed of the first momentum wheel CH1 is expressed by the expression (5):
s ch2 the rotational speed of the second momentum wheel CH2 is expressed by the expression (6):
s ch3 the rotation speed of the third power wheel CH3 is expressed by the formula (7):
wherein: l (L) x 、L y 、L z Are all intermediate variables, expressed by formula (8):
wherein: gyro y Is the angular velocity obtained by the gyroscope 1 in the Y-axis direction; gyro z Is the angular velocity obtained by the gyroscope 1 along the Z-axis direction; angle of y An angle value measured along the Y-axis direction for the gyroscope 1; angle of z An angle value measured along the Z-axis direction for the gyroscope 1; angle of xe A preset expected angle value for the X axis; angle of ye A preset expected angle value for the Y axis; angle of ze A preset expected angle value for the Z axis; k (k) xp Is to pair L x The angle error of (2) affects the correction coefficient; k (k) xv For L x The angular velocity of (a) affects the correction coefficient; k (k) yp Is to pair L y The angle error of (2) affects the correction coefficient; k (k) yv Is to pair L y The angular velocity of (a) affects the correction coefficient; k (k) zp Is to pair L z The angle error of (2) affects the correction coefficient; k (k) zv Is to pair L z The angular velocity of (a) affects the correction coefficient; k (k) xs 、k ys 、k zs Are custom parameters that are adjusted by the error in angle.
As shown in fig. 5, a method for controlling the balance of a momentum wheel rotation speed adjusting lever of an intelligent gyroscope 1 using a system for controlling the balance of a momentum wheel rotation speed adjusting lever of an intelligent gyroscope 1 comprises the steps of:
s100, initializing a system, performing self-checking on the system, and checking whether an indicator lamp is normally on; and then according to the self-checking result and the checking result, the following operations are performed:
if the self-test is successful and the indicator light is always on, S200 is performed.
If the self-test is unsuccessful or the indicator light is not normally on, the process returns to and execution of S100 is again performed.
It should be noted that the above check is an important guarantee of whether the system can operate normally or not, and if not, the software must be reinitialized.
S200, as shown in FIG. 6, if the data of the gyroscope 1 is required to be read, the data can be efficiently and rapidly transmitted by reading the data through WIFI or an external serial port. Information such as angular velocity and angle required by the system is read from the gyroscope 1; then calculating according to the angular speed and the angle to obtain attitude information and angle information of the system; then checking whether the gyroscope 1 is within a manually preset maximum error; then, according to the inspection result, the following operations are made:
if the gyroscope 1 is within the maximum error, S300 is performed.
If the gyroscope 1 is not within the maximum error, the software still needs to be reinitialized, whereupon S100 is returned and executed again.
S300, the computer sends out an instruction, and then the momentum wheel rotates; the indicator light flashes; the execution of the predetermined program is started so that the entire system is kept dynamically balanced without being affected by external conditions.
In this embodiment, when S300 is executed, a system protection flow and a system debugging and optimizing flow are also executed at the same time; wherein:
the system protection flow comprises overcurrent protection, overvoltage protection and over-temperature protection.
It should be noted that the protection flow of the system is to avoid damage to the system and the user.
It should be further noted that the system protection process needs to take into account the security and reliability of the system when designing and implementing the system.
The system debugging and optimizing process comprises parameter adjustment, algorithm optimization and calibration adjustment.
It should be noted that, the system debugging and optimizing process is automatically performed by the system.
It should be further noted that the system debugging and optimizing process is used to improve the performance and stability of the system.
Further summarizing, the key technical points of the application are as follows:
1. the application uses the singlechip technology, uses a device which is light, efficient, low in cost and strong in anti-interference capability, and realizes that the rotating speed of the momentum wheel can be automatically and intelligently regulated under the influence of various environmental factors so as to keep a stable balance state.
2. The application has strong portability, can still realize the balance of the rod after changing the shape of the device, can add various accessories to achieve the function to be realized, and is not limited by a single shape.
3. The modular processing is adopted, so that the maintainability is high, the structure is flexible, the focus is separated, the combination and the decomposition among the modules are convenient, and the function debugging and the upgrading of a single module are convenient.
4. The application adopts the high-precision sensor, can accurately detect the inclination angle and the change speed of the rod, and transmits the inclination angle and the change speed to the control system in real time. Therefore, the dynamic balance control of the rod can be realized, and the rotating speed of the momentum wheel can be timely adjusted, so that the momentum wheel can be kept in a stable state.
5. The application introduces advanced algorithm and control strategy, can make intelligent decision and adjustment according to real-time sensor data, and improves the control precision and response speed of balance.
6. The key technical point of the application also comprises modeling and predicting the dynamic characteristics of the rod, and dynamically adjusting accessories of different types is realized by analyzing parameters such as the quality, the size and the like of the rod and combining sensor data, so that the dynamic balance of the rod is realized.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, application lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (10)
1. A momentum wheel rotating speed adjusting rod balance control system of an intelligent inertia measurement unit is characterized in that: comprises an inertial measurement unit, a magnetic encoder, a momentum wheel and a main control board, wherein:
the inertia measurement unit comprises an X axis, a Y axis and a Z axis, is used for transmitting the angle data measured by the inertia measurement unit to the main control board, and carries out different pulse width modulation distribution on 3 brushless motors according to preset conditions so as to realize the speed increasing or inhibiting effect of the brushless motors;
the magnetic encoder is used for counting the brushless motor and transmitting data to the main control board so as to realize speed control of the brushless motor;
the momentum wheel is used for determining the size of the rod which can be controlled by the control system through the self mass and the maximum value of the mass, and realizing the dynamic balance control of the rod by adjusting the rotating speed;
the main control board is used for processing data from the inertial measurement unit and the magnetic encoder in real time, performing quick response and making adjustment.
2. The momentum wheel speed adjusting lever balance control system of an intelligent gyroscope according to claim 1, wherein: the main control board adopts an ESP32 chip; the inertial measurement unit adopts a gyroscope (1); the magnetic encoder adopts an AS5600 magnetic encoder.
3. The momentum wheel speed adjusting lever balance control system of the intelligent gyroscope according to claim 2, wherein: the gyroscope (1) adopts an MPU6050 gyroscope (1);
the number of the momentum wheels is 3, namely a first momentum wheel (CH 1), a second momentum wheel (CH 2) and a third momentum wheel (CH 3); the plane I (2) formed by the first momentum wheel (CH 1), the second momentum wheel (CH 2) and the third momentum wheel (CH 3) is parallel to the bottom surface II (3).
4. The momentum wheel speed adjusting lever balance control system of the intelligent gyroscope according to claim 3, wherein: a plane III (4) formed by an X axis and a Y axis of the gyroscope (1) is parallel to the bottom surface II (3);
the intersection points of the X axis, the Y axis and the Z axis of the gyroscope (1) are projected onto the bottom surface II (3) to coincide with the fulcrums;
the included angles between the sides of the cube passing through the supporting points and the bottom surface II (3) are 35.3 degrees respectively;
the middle point of the first momentum wheel (CH 1), the middle point of the second momentum wheel (CH 2) and the middle point of the third momentum wheel (CH 3) are projected onto the bottom surface II (3) and respectively form line segments with the fulcrums, and the included angles of the line segments are 120 degrees.
5. The momentum wheel speed adjusting lever balance control system of the intelligent gyroscope according to claim 4, wherein: the Y axis of the gyroscope (1) is projected onto the bottom surface II (3) and passes through the fulcrum;
the rotating speed direction of the first momentum wheel (CH 1) is perpendicular to a line segment formed by projecting the midpoint of the first momentum wheel (CH 1) onto the bottom surface II (3) and the fulcrum;
the rotating speed direction of the second momentum wheel (CH 2) is perpendicular to a line segment formed by projecting the midpoint of the second momentum wheel (CH 2) onto the bottom surface II (3) and the fulcrum;
the rotation speed direction of the third dynamic wheel (CH 3) is perpendicular to a line segment formed by projecting the midpoint of the third dynamic wheel (CH 3) onto the bottom surface II (3) and the fulcrum.
6. The momentum wheel speed adjusting lever balance control system of the intelligent gyroscope according to claim 5, wherein: the angle of the cube is expressed as:
θ＝angle x -angle e
wherein: θ is the angle of the cube; angle of x An angle value measured along the X-axis direction for the gyroscope (1); angle of e An angle value measured on the same plane for the rotation axis of the momentum wheel and the balance edge;
the angular velocity of the cube is expressed as:
θ'＝gyro x
wherein: θ' is the angular velocity of the cube; gyro x Is the angular velocity obtained by the gyroscope (1) along the X-axis direction.
7. The momentum wheel speed adjusting lever balance control system of the intelligent gyroscope according to claim 6, wherein: the angular velocity of the momentum wheel is expressed as:
w'＝motorspeed x
wherein: w' is the angular velocity of the momentum wheel; motorspeed x A rotational speed for the momentum wheel;
the relationship between the rotational speed of the first momentum wheel (CH 1), the rotational speed of the second momentum wheel (CH 2), and the rotational speed of the third momentum wheel (CH 3) is expressed as follows:
wherein: s is(s) x 、s y 、s z Are all intermediate variables;
s ch1 for the rotational speed of the first momentum wheel (CH 1), the expression is as follows:
s ch2 for the rotational speed of the second momentum wheel (CH 2), the expression is as follows:
s ch3 for the rotational speed of the third power wheel (CH 3), the expression is as follows:
wherein: l (L) x 、L y 、L z Are all intermediate variables, expressed as follows:
wherein: gyro y Is the angular velocity obtained by the gyroscope (1) along the Y-axis direction; gyro z Is the angular velocity obtained by the gyroscope (1) along the Z-axis direction; angle of y An angle value measured along the Y-axis direction for the gyroscope (1); angle of z An angle value measured along the Z-axis direction for the gyroscope (1); angle of xe A preset expected angle value for the X axis; angle of ye A preset expected angle value for the Y axis; angle of ze A preset expected angle value for the Z axis; k (k) xp Is to pair L x The angle error of (2) affects the correction coefficient; k (k) xv For L x The angular velocity of (a) affects the correction coefficient; k (k) yp Is to pair L y The angle error of (2) affects the correction coefficient; k (k) yv Is to pair L y The angular velocity of (a) affects the correction coefficient; k (k) zp Is to pair L z The angle error of (2) affects the correction coefficient; k (k) zv Is to pair L z The angular velocity of (a) affects the correction coefficient; k (k) xs 、k ys 、k zs Are custom parameters.
8. A momentum wheel rotation speed adjusting lever balance control method of an intelligent gyroscope using the momentum wheel rotation speed adjusting lever balance control system of an intelligent gyroscope according to claim 7, characterized in that: comprises the following steps:
s100, initializing a system, performing self-checking on the system, and checking whether an indicator lamp is normally on; and then according to the self-checking result and the checking result, the following operations are performed:
if the self-checking is successful and the indicator light is normally on, executing S200;
if the self-test is unsuccessful or the indicator light is not normally on, returning to and executing S100 again;
s200, reading the angular speed and the angle from the gyroscope (1); then calculating according to the angular speed and the angle to obtain attitude information and angle information of the system; then checking whether the gyroscope (1) is within a manually preset maximum error; then, according to the inspection result, the following operations are made:
if the gyroscope (1) is within the maximum error, performing S300;
returning to and executing S100 again if the gyroscope (1) is not within the maximum error;
s300, rotating the momentum wheel; the indicator lamp flashes; the execution of the predetermined program is started so that the entire system is kept dynamically balanced without being affected by external conditions.
9. The method for controlling the balance of the momentum wheel rotating speed adjusting rod of the intelligent gyroscope according to claim 8, wherein the method comprises the following steps of: the system initialization in S100 includes system clock initialization, serial port initialization, gyroscope (1) initialization, and timer initialization.
10. The method for controlling the balance of the momentum wheel rotating speed adjusting rod of the intelligent gyroscope according to claim 9, wherein the method comprises the following steps of: when S300 is executed, a system protection flow and a system debugging and optimizing flow are also executed simultaneously; wherein:
the system protection flow comprises overcurrent protection, overvoltage protection and overtemperature protection;
the system debugging and optimizing process comprises parameter adjustment, algorithm optimization and calibration adjustment.
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| CN117694841A (en) * | 2024-02-06 | 2024-03-15 | 成都中医药大学 | Gravity center track data acquisition method |
| CN117694841B (en) * | 2024-02-06 | 2024-04-30 | 成都中医药大学 | Gravity center track data acquisition method |
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