CN205959527U - Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley - Google Patents
Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley Download PDFInfo
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- CN205959527U CN205959527U CN201620332103.2U CN201620332103U CN205959527U CN 205959527 U CN205959527 U CN 205959527U CN 201620332103 U CN201620332103 U CN 201620332103U CN 205959527 U CN205959527 U CN 205959527U
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- encoder
- motor
- inverted pendulum
- gripper shoe
- support
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- 230000001133 acceleration Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The utility model discloses a second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley, including backup pad, two driving motor, encoder, support, free pendulum rod and two drive wheels, two driving motor install the left and right sides of face under the backup pad respectively, and two drive wheels are installed respectively on two driving motor's output shaft, the support is vertical to be installed on the last face of backup pad, and the encoder is installed on the support, and the measuring pivot of encoder is the level setting, and free pendulum rod is installed perpendicularly in the measuring pivot of encoder. This second grade inverted pendulum experimental apparatus adopts two drive wheels of two driving motor separately -driven to remove, simple structure facilitate device's removal, two drive wheels freely remove and free swing's free pendulum rod constitutes the second grade inverted pendulum together, have better experimental performance.
Description
Technical field
This utility model is related to a kind of inverted pendulum experimental provision, and especially a kind of based on double-wheel self-balancing dolly two grades fall
Vertical pendulum experimental provision.
Background technology
Inverted pendulum is a kind of nonlinear instability system, especially multistage inverted pendulum.Such experimental provision is to automatically control
Major learns the good platform of Automatic Control Theory and control method.Existing multistage inverted pendulum experimental system is mostly rotary
Inverted pendulum, volume is larger, expensive it is difficult to mobile.The inverted pendulum device of existing use self-balancing trolley is also single-stage
System is it is impossible to realize increasingly complex experiment simulation.
Content of the invention
The purpose of this utility model be to provide a kind of easy, be easily moved based on double-wheel self-balancing dolly two grades fall
Vertical pendulum experimental provision.
To achieve these goals, the utility model discloses a kind of double inverted pendulum based on double-wheel self-balancing dolly is real
Experiment device, including gripper shoe, two motors, encoder, support, free fork and two driving wheels；Two drive electricity
Machine is separately mounted to the left and right sides of gripper shoe lower face, and two driving wheels are separately mounted to the output shaft of two motors
On；Support is vertically installed on the upper face of gripper shoe, and encoder is rack-mount, and the detection rotating shaft of encoder is level
Setting, free fork is vertically mounted in the detection rotating shaft of encoder.
Two driving wheels are driven to move respectively using two motors, the movement of the simple and convenient device of structure, two
Moving freely of individual driving wheel constitutes double inverted pendulum together with the free fork freely swinging, and has preferable experimental performance；
Can be obtained from real time by the pendulum angle of fork using encoder, conveniently carry out stability contorting.
As further limits scheme of the present utility model, also include control board and set of cells；Control board is pacified
It is contained on the upper face of gripper shoe, set of cells is arranged on the lower face of gripper shoe；Control board is provided with power module,
Core controller, 9 axle acceleration sensors, motor-drive circuit and wireless communication module；Core controller is added with 9 axles respectively
Velocity sensor, motor-drive circuit and wireless communication module are connected；Motor-drive circuit is connected with two motors；Electricity
Pond group is respectively core controller, 9 axle acceleration sensors, motor-drive circuit, motor, encoder by power module
And wireless communication module powers.Detect the current real-time attitude of gripper shoes using 9 axle acceleration sensors, including working as front support
Plate inclination angle and speed, in conjunction with the gathered data of encoder, to complete double inverted pendulum experiment.
The beneficial effects of the utility model are：（1）Two driving wheels are driven to be moved respectively using two motors
Dynamic, the movement of the simple and convenient device of structure, moving freely of two driving wheels constitutes two together with the free fork freely swinging
Level inverted pendulum, has preferable experimental performance；（2）Can be obtained from by the pendulum angle of fork in real time using encoder, convenient
Carry out stability contorting.
Brief description
Fig. 1 combines schematic diagram for forward sight of the present utility model；
Fig. 2 is overlooking the structure diagram of the present utility model；
Fig. 3 is side structure schematic view of the present utility model；
Fig. 4 is circuit connecting relation figure of the present utility model.
In figure:1st, driving wheel, 2, motor, 3, set of cells, 4, encoder, 5, free fork, 6, gripper shoe, 7,
Frame, 8, control board.
Specific embodiment
As Figure 1-4, the utility model discloses a kind of double inverted pendulum experiment based on double-wheel self-balancing dolly fills
Put including：6, two motors 2 of gripper shoe, encoder 4, support 7, free fork 5, control board 8, set of cells 3 and
Two driving wheels 1.
Wherein, two motors 2 are separately mounted to the left and right sides of gripper shoe 6 lower face, and two driving wheels 1 are pacified respectively
It is contained on the output shaft of two motors 2；Support 7 is vertically installed on the upper face of gripper shoe 6, and encoder 4 is arranged on and props up
On frame 7, and the detection rotating shaft of encoder 4 is to be horizontally disposed with, and free fork 5 is vertically mounted in the detection rotating shaft of encoder 4；Control
Circuit board 8 processed is arranged on the upper face of gripper shoe 6, and set of cells 3 is arranged on the lower face of gripper shoe 6；In control board 8
It is provided with power module, core controller, 9 axle acceleration sensors, motor-drive circuit and wireless communication module；Core control
Device processed is connected with 9 axle acceleration sensors, motor-drive circuit and wireless communication module respectively；Motor-drive circuit and two
Motor 2 is connected；Set of cells 3 is respectively core controller, 9 axle acceleration sensors, Motor drive electricity by power module
Road, motor 2, encoder 4 and wireless communication module are powered；Power module is conventional Voltage stabilizing module.
Double inverted pendulum experimental provision based on double-wheel self-balancing dolly of the present utility model is in assembling：
First order inverted pendulum model：The driving wheel 1 of the left and right sides is connected with two motors 2 by power transmission shaft respectively
Connect, motor 2 is fixed on the lower section of gripper shoe 6 by motor rack.The drive signal of motor 2 and the encoder letter carrying
Number it is connected with the motor-drive circuit in control board 8 by holding wire, for the speed controlling of two driving wheels 1；Control
9 axle acceleration sensors on circuit board 8 processed and gripper shoe 6 keep fixing, the real-time attitude current for detecting gripper shoe 6,
Including when front end panel 6 inclination angle and speed, this part constitutes first order inverted pendulum model.
Second level inverted pendulum model：Encoder 4 is fixed on support 7, and support 7 is vertically fixed in gripper shoe 6, freely puts
Bar 5 is connected with the detection rotating shaft of encoder 4 by right angle connecting shaft, and encoder 4 is used for detecting the pendulum angle of free fork 5
Information, sends into the core controller in control board 8 by holding wire, this part constitutes second level inverted pendulum model.
Double inverted pendulum experimental provision based on double-wheel self-balancing dolly of the present utility model is in experiment：Make support first
Plate 6 is in horizontality and free fork 5 is in vertical state, is then turned on the switch of set of cells 3, by core controller root
Carry out self-balancing control according to 9 axle acceleration sensors；With the free-running operation of driving wheel 1 and free fork 5, device is in injustice
The position of weighing apparatus, core controller passes through the attitude that 9 axle acceleration sensors obtain gripper shoe 6（Angle, speed, acceleration）, lead to
Cross encoder 4 to gain freedom the deviation angle of fork；Again motor 2 is controlled by motor-drive circuit by core controller
Speed, acceleration and direction of rotation, so that gripper shoe 6 is in horizontality all the time and free fork 5 is in all the time
Vertical state.
Claims (2)
1. a kind of double inverted pendulum experimental provision based on double-wheel self-balancing dolly it is characterised in that：Including gripper shoe（6）, two
Individual motor（2）, encoder（4）, support（7）, free fork（5）And two driving wheels（1）；Two motors（2）
It is separately mounted to gripper shoe（6）The left and right sides of lower face, two driving wheels（1）It is separately mounted to two motors（2）'s
On output shaft；Support（7）It is vertically installed at gripper shoe（6）Upper face on, encoder（4）It is arranged on support（7）On, and encode
Device（4）Detection rotating shaft be horizontally disposed with, free fork（5）It is vertically mounted on encoder（4）Detection rotating shaft on.
2. the double inverted pendulum experimental provision based on double-wheel self-balancing dolly according to claim 1 it is characterised in that：Also
Including control board（8）And set of cells（3）；Control board（8）It is arranged on gripper shoe（6）Upper face on, set of cells（3）
It is arranged on gripper shoe（6）Lower face on；In control board（8）It is provided with power module, core controller, 9 axle accelerations
Sensor, motor-drive circuit and wireless communication module；Core controller respectively with 9 axle acceleration sensors, Motor drive
Circuit and wireless communication module are connected；Motor-drive circuit and two motors（2）It is connected；Set of cells（3）By power supply
Module is respectively core controller, 9 axle acceleration sensors, motor-drive circuit, motor（2）, encoder（4）And no
Line communication module is powered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620332103.2U CN205959527U (en) | 2016-04-20 | 2016-04-20 | Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620332103.2U CN205959527U (en) | 2016-04-20 | 2016-04-20 | Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205959527U true CN205959527U (en) | 2017-02-15 |
Family
ID=57966803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620332103.2U Expired - Fee Related CN205959527U (en) | 2016-04-20 | 2016-04-20 | Second grade inverted pendulum experimental apparatus based on two -wheeled is from balancing trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205959527U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643761A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism and balance method |
| CN108572590A (en) * | 2018-04-18 | 2018-09-25 | 陕西理工大学 | One kind controlling inverted pendulum experimental provision based on bluetooth self-balancing trolley |
-
2016
- 2016-04-20 CN CN201620332103.2U patent/CN205959527U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643761A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | Multistage omnidirectional space handstand swinging mechanism and balance method |
| CN107643761B (en) * | 2017-10-30 | 2023-06-20 | 桂林电子科技大学 | Multi-stage omnidirectional space inverted pendulum mechanism and balancing method |
| CN108572590A (en) * | 2018-04-18 | 2018-09-25 | 陕西理工大学 | One kind controlling inverted pendulum experimental provision based on bluetooth self-balancing trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170215 Termination date: 20170420 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |