CN205256049U

CN205256049U - Car upright

Info

Publication number: CN205256049U
Application number: CN201520947670.4U
Authority: CN
Inventors: 魏晓慧
Original assignee: Huizhou University
Current assignee: Huizhou University
Priority date: 2015-11-25
Filing date: 2015-11-25
Publication date: 2016-05-25
Anticipated expiration: 2025-11-25

Abstract

The utility model relates to a car upright, its including always control the module and rather than the power module that links to each other, two servo motor, be used for driving servo motor corotation and direction changing motor driver module, be used for detecting vehicle acceleration's accelerometer, the speed measuring coder that is used for detecting car upright inclination and rotational angular velocity's gyroscope and is used for detecting vehicle velocity. Car upright still include with always control the wireless communication module that the module links to each other, this wireless communication module adopts the flush bonding module that accords with the wifi wireless network standard based on the UART interface, and it is through the UART interface and always control module communication, always control the module including the PWM generating circuit who is used for producing four ways PWM signal, four ways PWM generating circuit's output with motor -drive circuit links to each other. The usable portable instrument at one's side of user carries out the remote control to car upright, need not when for example picking up the car to go further car upright next door, but remote control car upright reaches the present position of user.

Description

Upright car

Technical field

The utility model relates to a kind of upright car.

Background technology

Upright car is again electrodynamic balance car, is also body sense car, thinking car, car etc. acts as regent. On market, mainly contain single wheel and two-wheel two classes. Its operation principles is to be mainly based upon one to be called as in " dynamic stability " general principle (DynamicStabilization), utilize gyroscope and the acceleration transducer of car body inside, detect the variation of car body attitude, and utilize servo-control system, accurately drive motors is adjusted accordingly, with the balance of keeping system, be subject to liking of whole world young man and old man. Upright car also has a lot of functions to develop.

Summary of the invention

The purpose of this utility model is to provide a kind of upright car that can communicate by letter with portable set, the convenient upright car that upright car is carried out to remote control.

A kind of upright car, it comprises top control module and coupled power module, two servomotors that are connected with two wheels of upright car, for the motor drive module that drives described two servomotors to rotate and reverse, for detection of the accelerometer of vehicle acceleration, for detection of the gyroscope of uprightly car inclination angle and angular velocity of rotation with for detection of the speed measuring coder of car speed. Described upright car also comprises the wireless communication module being connected with described top control module, and this wireless communication module adopts the flush bonding module that meets wifi wireless network standards based on UART interface, and it is communicated by letter with top control module by UART interface; Described top control module comprises the PWM circuit for generating for generation of four road pwm signals, and the output of described four road PWM circuit for generatings is connected with described motor-drive circuit.

Preferably, described wireless communication module comprises the ESP8266 chip being operated under wireless access dot pattern.

Preferably, described top control module comprises MKL26Z256VLL4 chip, it comprises two timer pulse counting interfaces, be connected with the output that is arranged on two speed measuring coders on motor respectively, it also has two analog-to-digital conversion interfaces, be connected with gyroscope with described accelerometer respectively, it also has Serial Peripheral Interface (SPI) and input/output interface.

Preferably, described upright car also comprises display circuit and input circuit, and described display circuit is connected with the Serial Peripheral Interface (SPI) of MKL26Z256VLL4 chip, and described input circuit is connected with the input/output interface of MKL26Z256VLL4 chip.

Upright car of the present utility model has short-range wireless communication module, thereby user can utilize portable set at one's side to carry out remote control to upright car, for example, while picking up the car, without the upright car side of going further, remote-controlled upright car reaches the current position of user, uses more convenient.

Brief description of the drawings

Fig. 1 is the circuit structure module map of the upright car of the utility model one embodiment.

Detailed description of the invention

Below in conjunction with specific embodiment and accompanying drawing, the upright car of the utility model is described in further detail.

As shown in Figure 1, in one preferred embodiment, upright car owner of the present utility model will comprise top control module and coupled power module, two servomotors that are connected with two wheels of upright car, for driving described two motor drive modules that servomotor rotates and reverse, for detection of the accelerometer of vehicle acceleration, for detection of the gyroscope of upright car inclination angle and angular velocity of rotation with for detection of the speed measuring coder of car speed, for the display circuit of display system operation information, for the input circuit of input keyboard or button is provided, and the wireless communication module being connected with top control module.

Wherein, power circuit is each components and parts and the circuit supply that needs electric energy in system.

Top control module comprises the MKL26Z256VLL4 chip of the single-chip microcomputer KL26 series of Freescale, it is the microcontroller based on ARMCortex-M0 kernel, integrated various controllers, the embedded microcontroller of low-power consumption, second generation core A RMCortex-M0, its instruction set is simply efficient, can realize certainty behavior. The operating frequency of the CPU of MKL26Z256VLL4 is up to 48MHz. The peripheral hardware of MKL26Z256VLL4 comprises: up to data storage, I2C interface, UART interface, the SPI(Serial Peripheral Interface (SPI) of Flash, the 32kB of 256kB) interface, timer pulse counting interface, DMA, ADC(analog-to-digital conversion interface), DAC(digital-to-analogue conversion interface) etc. controller; And nearly 100 general purpose I/O(input and output) interface. MKL26Z256VLL4 chip also has the PWM circuit for generating for generation of four road pwm signals, and the output of four road PWM circuit for generatings is connected with motor-drive circuit.

Motor drive module can adopt chip BTS7970, is professional motor drive ic, and periphery only needs ball bearing made using. Because upright car uses double motor, need again to control motor two-direction rotation, therefore need two BTS7970 to form the circuit of a full-bridge, use altogether four BTS7970 to form two full-bridge circuits and drive respectively two privates to take motor. Four BTS7970 chips are connected with four PWM output ports of MKL26Z256VLL4 chip respectively.

Accelerometer can be measured the acceleration that object is subject to, and acceleration can be produced by object of which movement or terrestrial gravitation acceleration. The acceleration transducer model of the present embodiment is MMA7361, is that Freescale produces, and its output is connected with the AD port of the MKL26Z256VLL4 chip of top control module.

Gyroscope, angular-rate sensor, for measuring the angular velocity of rotation of object, can adopt the ENC-03MB producing such as but not limited to Murata, and its output is connected with another AD port of the MKL26Z256VLL4 chip of top control module.

Speed measuring coder can adopt the photoelectric encoder of 512 lines, uses the output pulse of the TPM pulse count encoder of top control module just can obtain the speed of upright car.

Display circuit is connected with the Serial Peripheral Interface (SPI) of MKL26Z256VLL4 chip, can adopt OLED(OrganicLight-EmittingDiode, Organic Light Emitting Diode) LCD MODULE. Input circuit is connected with the input/output interface of MKL26Z256VLL4 chip, and input circuit can be independent button or is simple keyboard circuit.

Wherein, the attitude control of upright truck system comprises balance control, speed control and direction control. Balance control: control two motors and rotate backward or forward rotation, namely control that car mould moves forward or motion backward, specifically which side which side car mould just run toward toward, makes model car keep balance upright; Speed control: the inclination angle of car modal balancing state is constant, inclination angle when car mould uniform motion and the inclination angle of poised state keep a difference, speed is faster, inclination angle difference is larger, by changing the size at angle of inclination of model car, thereby control the speed of car mould, the inclination angle size control of car mould is to regulate to realize by the size of the rotating speed of feedback wheel, namely controls the inclination angle of car mould by controlling the rotating speed of motor; Direction control: adopt the mode of the speed difference of controlling two rotation of wheels, the speed difference of namely controlling two motors is realized rotation, beaten angle, is also direction control. Suppose the independent upright and direction control task that completes car mould, car mould is upright and control orienting task comparatively simply directly, makes two wheels of two motor control car moulds. In fact two controls are superimposed and are carried on motor, because the rotating speed of motor and voltage are linear relationships, in control procedure, motor, in linear condition, just can complete the upright of car mould simultaneously and control orienting task. The motor that can imagine car mould in this control procedure is the stack of two motors, acts on wheel simultaneously, realizes direction control and the balance control of car mould. The speed of a motor vehicle size of controlling car mould is the mode that uses the inclination angle that changes car mould. The difference at the inclination angle of car mould inclination angle and level state is larger, and speed is faster, and difference is less, and car mould speed is just slower, regulates the inclination angle difference of car mould to cause the acceleration and deceleration of car mould, realizes the adjusting of the velocity magnitude to car mould.

Balance control, speed control, direction control, independently carry out separately. Control is separately loaded on motor, is all finally that same control object motor is controlled, and the relation between them is coupling. In three control tasks, the control of car modal balancing is basis, upright model car must ensure it is straight, in control procedure, direction control and speed control should reduce the upright impact of controlling of balance, but realize control task separately, therefore speed of model car, direction control must keep level and smooth output to be loaded on motor. Speed control is the inclination angle difference by the inclination angle of adjustment state and transport condition; the inclination angle of poised state is fixed; adjustable inclination also just can make car travel, and avoids the control of speed control effect balance, must carry out very slowly the change at model car inclination angle. The balance control of at present upright car is comparatively ripe, does not repeat them here.

Wireless communication module adopts the flush bonding module that meets wifi wireless network standards based on UART interface, in the present embodiment, adopt and be operated in WAP (WirelessAccessPoint, AP) the ESP8266 chip under pattern, it is communicated by letter with top control module by UART interface, and both carry out data interaction by AT order (being Attention). Wireless mobile apparatus can connect the Wi-Fi network that ESP8266 is set up, and by Wi-Fi and ESP8266 module communication, thereby realizes communicating by letter of portable wireless mobile device and MCU.

Adopt the upright car of the utility model framework to programme by the chip to main control module, can realize the in the situation that of unmanned interference and realizing uprightly, be subject to extraneous interference and also can recover erectility by self-control, chip microcontroller intelligent control algorithm is intelligent controller, use multiple INTELLIGENT PID CONTROL ALGORITHM, thereby realize the upright of upright car, speed control. By suitable application (APP is installed on wireless mobile apparatus, application), can realize advancing, retreating and turning by the upright car of wireless mobile apparatus control, thereby user can utilize portable set at one's side to carry out remote control to upright car, for example, while picking up the car without the upright car side of going further, remote-controlled upright car reaches the current position of user, uses more convenient.

Although description of the present utility model is carried out in conjunction with above specific embodiment,, those skilled in the art can carry out many replacements, modifications and variations, be apparent according to above-mentioned content. Therefore, all such substituting, improve and change are all included in the spirit and scope of attached claim.

Claims

1. a upright car, comprise top control module and coupled power module, two servomotors that are connected with two wheels of upright car, for driving described two motor drive modules that servomotor rotates and reverse, for detection of the accelerometer of vehicle acceleration, for detection of the gyroscope of upright car inclination angle and angular velocity of rotation with for detection of the speed measuring coder of car speed, it is characterized in that, also comprise the wireless communication module being connected with described top control module, this wireless communication module adopts the flush bonding module that meets wifi wireless network standards based on UART interface, it is communicated by letter with top control module by UART interface, described top control module comprises the PWM circuit for generating for generation of four road pwm signals, and the output of described four road PWM circuit for generatings is connected with described motor-drive circuit.

2. upright car according to claim 1, is characterized in that, described wireless communication module comprises the ESP8266 chip being operated under wireless access dot pattern.

3. upright car according to claim 1, it is characterized in that, described top control module comprises MKL26Z256VLL4 chip, it comprises two timer pulse counting interfaces, be connected with the output that is arranged on two speed measuring coders on motor respectively, it also has two analog-to-digital conversion interfaces, is connected respectively with described accelerometer with gyroscope, and it also has Serial Peripheral Interface (SPI) and input/output interface.

4. upright car according to claim 3, it is characterized in that, also comprise display circuit and input circuit, described display circuit is connected with the Serial Peripheral Interface (SPI) of MKL26Z256VLL4 chip, and described input circuit is connected with the input/output interface of MKL26Z256VLL4 chip.