CN214648784U - Single-rail self-balancing bicycle electric control system based on different working conditions - Google Patents
Single-rail self-balancing bicycle electric control system based on different working conditions Download PDFInfo
- Publication number
- CN214648784U CN214648784U CN202120731378.4U CN202120731378U CN214648784U CN 214648784 U CN214648784 U CN 214648784U CN 202120731378 U CN202120731378 U CN 202120731378U CN 214648784 U CN214648784 U CN 214648784U
- Authority
- CN
- China
- Prior art keywords
- system based
- chip microcomputer
- working conditions
- control system
- electric control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 240000007651 Rubus glaucus Species 0.000 claims abstract description 21
- 235000011034 Rubus glaucus Nutrition 0.000 claims abstract description 21
- 235000009122 Rubus idaeus Nutrition 0.000 claims abstract description 21
- 230000000087 stabilizing effect Effects 0.000 claims description 13
- 230000005484 gravity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The utility model discloses a single-rail self-balancing bicycle electric control system based on different working conditions, which comprises a gyroscope sensor, a single chip microcomputer, a raspberry group, a motor driver, a servo motor and a moment gyro frame; the gyroscope sensor is connected with the single chip microcomputer, the raspberry group is connected with the single chip microcomputer, the output end of the single chip microcomputer is connected with the input end of the motor driver, the output end of the motor driver is connected with the control end of the servo motor, the output shaft of the servo motor is connected with the moment gyro frame, balance of a bicycle body balance bicycle can be achieved through the system, and the system is high in adaptability.
Description
Technical Field
The utility model belongs to the technical field of single track bicycle is balanced, a single track self-balancing bicycle electrical system based on different work condition is related to.
Background
The balance control of the unmanned bicycle is a typical balance control problem, the single-rail self-balancing vehicle is a nonlinear, underactuated and naturally unstable system, the safety of the single-rail vehicle is a prominent problem, and the probability of accidents of the single-rail vehicle is far higher than that of an automobile because the single-rail vehicle is unstable and is influenced by the technical level of a driver in the driving process. In recent years, some scholars use fuzzy control and intelligent control methods to solve the stability problem of the unmanned bicycle. Although the Segway with the left and right wheels is successful in technology and market since the Segway comes out, the braking distance of the Segway with the left and right wheels is longer due to the design structure of the Segway with the left and right wheels, so that the performance and the application range of the Segway with the left and right wheels are limited to a great extent by the braking mode of the Segway with the left and right wheels. When the self-balancing vehicle body meets a very complicated road condition or the balance of the vehicle body is not good, the system can quickly return to a stable state with small error. Therefore, in order to change an unstable monorail vehicle into a safe and stable vehicle, the research on the self-balancing control of the monorail vehicle is of great significance.
At present, three existing control modes for maintaining self-balance of posture are respectively as follows: steering control, dynamic quality control, and gyroscope control. The steering control mainly utilizes a steering engine to control a handlebar to rotate to generate a moment in a tilting direction to maintain the balance of a bicycle body, and has certain application in the field of unmanned driving. While the dynamic quality control is only suitable for controlling the balance of the vehicle body under the condition of extremely low speed. The gyroscope control is to generate moment in the vehicle body tilting direction by utilizing high-speed rotation of the control moment gyroscope, and has stronger adaptability to the vehicle body advancing speed, interference of different working conditions and the like, so that the self-balancing control technology based on the control moment gyroscope becomes an important control mode.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome above-mentioned prior art's shortcoming, provide a single track self-balancing bicycle electrical system based on different work condition, this system can realize the balance of automobile body balance bicycle, and adaptability is stronger.
In order to achieve the purpose, the single-rail self-balancing bicycle electric control system based on different working conditions comprises a gyroscope sensor, a single chip microcomputer, a raspberry group, a motor driver, a servo motor and a moment gyro frame;
the gyroscope sensor is connected with the single chip microcomputer, the raspberry group is connected with the single chip microcomputer, the output end of the single chip microcomputer is connected with the input end of the motor driver, the output end of the motor driver is connected with the control end of the servo motor, and the output shaft of the servo motor is connected with the moment gyro frame.
The power supply comprises a power supply module, a motor driver and a power supply module, wherein the power supply module is connected with the power supply module, the output end of the power supply module is connected with the power supply module, and the output end of the power supply module is connected with the power supply module.
And the display screen is connected with the raspberry pie.
The gyroscope sensor is an MPU6050 sensor.
The single chip microcomputer is connected with the motor driver and the gyroscope sensor through data lines.
The singlechip is an STM32 singlechip.
The voltage stabilizing module is a DC-DC voltage stabilizing chip.
The servo motor is a GB6010 brushless servo motor.
The utility model discloses following beneficial effect has:
the utility model discloses a single track self-balancing bicycle electrical system based on different operating modes when concrete operation, adopts host computer and next machine combination to realize data processing, wherein, the host computer is raspberry group, the next machine is the singlechip, wherein, raspberry group has the commonality, data processing is fast and the advantage that storage capacity is big, the singlechip has characteristics such as dominant frequency height, fast operation, strong real-time and low-power consumption, during operation, detect the focus inclination information of automobile body through gyroscope sensor, raspberry group carries out PID operation to the focus inclination information of automobile body, then send the result of PID operation to the singlechip, the singlechip generates PWM control signal according to the result of PID operation, then send the PWM control signal to motor drive, realize the balance of automobile body balance bicycle, and the adaptability is stronger, simple structure, convenient operation, the practicability is extremely strong.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Wherein, 1 is the display screen, 2 is raspberry group, 3 is the singlechip, 4 is the gyroscope sensor, 5 is the DC speed regulator, 6 is the motor driver, 7 is permanent magnet DC motor, 8 is servo motor, 9 is moment gyro frame, 10 is the flywheel, 11 is voltage stabilizing module, 12 is DC power supply.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings:
referring to fig. 1, the single-track self-balancing bicycle electric control system based on different working conditions of the present invention includes a gyroscope sensor 4, a single chip microcomputer 3, a raspberry pi 2, a motor driver 6, a servo motor 8 and a moment gyro frame 9; the gyroscope sensor 4 is connected with the single chip microcomputer 3, the raspberry pi 2 is connected with the single chip microcomputer 3, the output end of the single chip microcomputer 3 is connected with the input end of the motor driver 6, the output end of the motor driver 6 is connected with the control end of the servo motor 8, and the output shaft of the servo motor 8 is connected with the moment gyro frame 9.
The utility model discloses still include DC power supply 12 and voltage stabilizing module 11, wherein, DC power supply 12's output is connected with voltage stabilizing module 11's input and motor driver 6's power source, and voltage stabilizing module 11's output is connected with raspberry group 2's power source and gyroscope sensor 4's power source.
The utility model discloses still include the display screen 1 that is connected with raspberry group 2, singlechip 3 is connected with motor driver 6 and gyroscope sensor 4 through the data line, and voltage stabilizing module 11 is DC-DC voltage stabilizing chip.
On the vehicle body, the direct current speed regulator 5 is connected with the control end of the permanent magnet direct current motor 7, the permanent magnet direct current motor 7 is connected with the flywheel 10, and the direct current power supply 12 is connected with the power supply interface of the direct current speed regulator 5.
The utility model discloses when concrete operation, adopt host computer and next machine combination to realize data processing, wherein, the host computer is for raspberry group 2, and the next machine is singlechip 3, and wherein, raspberry group 2 has the commonality strong, and data processing is fast and the advantage that storage capacity is big, and the next owner is responsible for debugging and control signal's output, receives the data that gyroscope sensor 4 gathered simultaneously, the utility model discloses singlechip 3 is STM32 singlechip 3, and this singlechip 3 has characteristics such as master frequency height, the operation is fast, the real-time strong and low-power consumption.
The gyroscope sensor 4 is integrated with a three-axis gyroscope and a three-axis accelerometer, the gyroscope sensor 4 is an MPU6050 sensor, when the self-balancing bicycle works, the single chip microcomputer 3 detects gravity center inclination angle information of a bicycle body through the gyroscope sensor 4, then the gravity center inclination angle information of the bicycle body is sent to the raspberry group 2, the gravity center inclination angle information of the bicycle body of the raspberry group 2 is subjected to PID operation, then a PID operation result is sent to the single chip microcomputer 3, the single chip microcomputer 3 generates a PWM control signal according to the PID operation result, then the PWM control signal is sent to the motor driver 6, the motor driver 6 controls the servo motor 8 to work according to the PWM control signal, the moment gyro frame 9 is controlled through the servo motor 8 to adjust the posture of the bicycle body, wherein the rotating speed of the servo motor 8 is changed through controlling the duty ratio, so that the balance state of the balance bicycle is controlled, and the stable running of the self-balancing bicycle is ensured, wherein the attitude is a left-right balance condition of the vehicle body, namely a left-right inclination angle and an inclination angle speed.
Claims (8)
1. A single-rail self-balancing bicycle electric control system based on different working conditions is characterized by comprising a gyroscope sensor (4), a single chip microcomputer (3), a raspberry (2), a motor driver (6), a servo motor (8) and a moment gyro frame (9);
the gyroscope sensor (4) is connected with the single chip microcomputer (3), the raspberry group (2) is connected with the single chip microcomputer (3), the output end of the single chip microcomputer (3) is connected with the input end of the motor driver (6), the output end of the motor driver (6) is connected with the control end of the servo motor (8), and the output shaft of the servo motor (8) is connected with the moment gyro frame (9).
2. The monorail self-balancing bicycle electric control system based on different working conditions, as claimed in claim 1, further comprising a dc power supply (12) and a voltage stabilizing module (11), wherein an output end of the dc power supply (12) is connected with an input end of the voltage stabilizing module (11) and a power interface of the motor driver (6), and an output end of the voltage stabilizing module (11) is connected with a power interface of the raspberry pi (2) and a power interface of the gyro sensor (4).
3. The monorail self-balancing bicycle electric control system based on different working conditions is characterized by further comprising a display screen (1) connected with the raspberry pi (2).
4. The single-track self-balancing bicycle electric control system based on different working conditions according to claim 1, characterized in that the gyroscope sensor (4) is an MPU6050 sensor.
5. The monorail self-balancing bicycle electric control system based on different working conditions is characterized in that the single chip microcomputer (3) is connected with the motor driver (6) and the gyroscope sensor (4) through data lines.
6. The monorail self-balancing bicycle electric control system based on different working conditions is characterized in that the single chip microcomputer (3) is an STM32 single chip microcomputer.
7. The monorail self-balancing bicycle electric control system based on different working conditions, as claimed in claim 1, wherein the voltage stabilizing module (11) is a DC-DC voltage stabilizing chip.
8. The monorail self-balancing bicycle electric control system based on different working conditions, as defined in claim 1, wherein the servo motor (8) is a GB6010 brushless servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120731378.4U CN214648784U (en) | 2021-04-09 | 2021-04-09 | Single-rail self-balancing bicycle electric control system based on different working conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120731378.4U CN214648784U (en) | 2021-04-09 | 2021-04-09 | Single-rail self-balancing bicycle electric control system based on different working conditions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214648784U true CN214648784U (en) | 2021-11-09 |
Family
ID=78460927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120731378.4U Expired - Fee Related CN214648784U (en) | 2021-04-09 | 2021-04-09 | Single-rail self-balancing bicycle electric control system based on different working conditions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214648784U (en) |
-
2021
- 2021-04-09 CN CN202120731378.4U patent/CN214648784U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106184199B (en) | The integrated control method of distributed AC servo system electric vehicle stability | |
| CN205160428U (en) | Balanced scooter control system of two -wheeled | |
| CN204527457U (en) | A kind of self-balancing two-wheeled vehicle | |
| CN201092370Y (en) | Electric scooter | |
| CN106627894A (en) | Two-wheeled longitudinal self-balancing robot and control system | |
| CN105966510A (en) | Self-balance double-wheel vehicle | |
| CN104724233A (en) | Directly-driven two-wheeled self-balancing electric vehicle | |
| CN103754301A (en) | Self-balancing two-wheeled walking car | |
| CN201901016U (en) | Self-balancing two-wheel vehicle | |
| CN205890594U (en) | Electric vehicle's traction control system | |
| CN214648784U (en) | Single-rail self-balancing bicycle electric control system based on different working conditions | |
| CN204527462U (en) | A kind of electronic self-balancing type two-wheel car | |
| CN103892969A (en) | Four-wheel individual driving mechanism for electric wheelchair | |
| CN113978589A (en) | Self-balancing unmanned bicycle | |
| CN205150142U (en) | Bicycle booster unit and moped | |
| CN108466570A (en) | A kind of electric vehicle E-Diff | |
| CN109911085A (en) | The adjustable double-wheel self-balancing base apparatus of center of gravity | |
| CN106956583A (en) | A kind of novel electric vehicle chassis | |
| CN207607592U (en) | The adjustable double-wheel self-balancing base apparatus of center of gravity | |
| CN204915966U (en) | Preceding two -wheeled electric tricycle | |
| CN113859359A (en) | Movement control method of light explosion-proof four-wheel eight-drive chassis | |
| CN208181303U (en) | A kind of Two-wheeled standing Automatic Vehicle with navigation | |
| CN204956704U (en) | Close coupled type area stabilising arrangement's two -wheeled moving platform | |
| CN103112509A (en) | Self-balance power-driven double-track vehicle | |
| CN209008806U (en) | Self-generating electric car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |