CN216002893U - Balanced attitude control device - Google Patents
Balanced attitude control device Download PDFInfo
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- CN216002893U CN216002893U CN202122716721.0U CN202122716721U CN216002893U CN 216002893 U CN216002893 U CN 216002893U CN 202122716721 U CN202122716721 U CN 202122716721U CN 216002893 U CN216002893 U CN 216002893U
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Abstract
The utility model discloses a balance attitude control device, which comprises an outer frame and an inner frame, wherein the outer frame and the inner frame are both square frames, the outer frame is internally provided with the inner frames which are bilaterally symmetrical, a supporting plate is arranged between the two inner frames, the inner frames are connected on the outer frame through bearings, and one end of each bearing is connected with a stepping motor; a horizontal momentum wheel is arranged in the inner frame and is connected with the inner frame through a fixing screw on a bearing, a brushless direct current motor is installed at the upper end of the inner frame through a motor fixing seat, the brushless direct current motor is connected with the momentum wheel through the bearing, an encoder is installed at the lower end of the inner frame and is connected with the momentum wheel through the bearing, and a gyroscope is arranged on the motor fixing seat; the two momentum wheels are driven by the outer frame and the inner frame, and the angular momentum jointly generated by the two momentum wheels can adjust the posture of the device.
Description
Technical Field
The utility model relates to a developments self-balancing technical field especially relates to a balanced attitude control device.
Background
The balancing device is used for a two-wheeled electric bicycle or other fields, and a system needing self balancing needs to be designed, so that the two-wheeled electric bicycle or some systems can be kept in a horizontal state and cannot incline. The design of the self-balancing device needs to consider the problems of mass center, gravity center, core type, load capacity, power and the like, and the test platform is designed for conveniently debugging the self-balancing device. The test platform can adjust the mass center, the gravity center and the center of motion of the whole vehicle, and can increase and reduce the load weight and the like.
The control system of the self-balancing device considers the motor driving control of the whole vehicle system under the condition of changing the mass center, the gravity center and the center of travel, and also influences the mass center, the gravity center and the center of travel of the whole vehicle under the condition of changing the load capacity, and the motor driving force needs to be adjusted and controlled. The test platform can obtain data such as motor rotating speed, output power, power consumption and the like under the condition of changing the mass center, the gravity center, the walking center and the load capacity, and is a necessary condition for designing a motor control algorithm.
However, the existing self-balancing device is complex and has high cost, and the self-balancing device also needs auxiliary equipment to calibrate and verify whether the self-balancing device is feasible or not in the using process, and the auxiliary equipment for calibrating and verifying whether the self-balancing device is feasible or not is also provided at present, so that the solution of the problems is very important
SUMMERY OF THE UTILITY MODEL
To the above problem, the utility model provides a balanced attitude control device drives two momentum wheels through being provided with outer frame and internal frame, and the angular momentum that two momentum wheels produced jointly can adjusting device's gesture, can make the device keep balance with this kind of method to it is feasible to verify balancing unit.
In order to realize the technical scheme, the utility model provides a balance attitude control device, which comprises an outer frame and an inner frame, wherein the outer frame and the inner frame are both square frames, the outer frame is internally provided with the inner frames which are bilaterally symmetrical, a supporting plate is arranged between the two inner frames, the inner frames are connected on the outer frame through bearings, and one end of each bearing is connected with a stepping motor; the inner frame is provided with a horizontal momentum wheel, the momentum wheel is connected with the inner frame through a fixing screw on a bearing, a brushless direct current motor is installed at the upper end of the inner frame through a motor fixing seat, the brushless direct current motor is connected with the momentum wheel through the bearing, an encoder is installed at the lower end of the inner frame, the encoder is connected with the momentum wheel through the bearing, and a gyroscope is arranged on the motor fixing seat.
The further improvement lies in that: the front side and the rear side of the outer frame are provided with mounting holes, and the outer frame is connected with the test platform by mounting bearings on the mounting holes.
The further improvement lies in that: including the control unit, the control unit adopts STM32 main control chip, by the control unit reads and analyzes the data of gyroscope, and sends corresponding instruction and gives motor control module, by motor control module control brushless DC motor's driver and step motor's driver, the driver reads the instruction and controls brushless DC motor and step motor motion.
The further improvement lies in that: the motor control module employs an ESP32 chip.
The further improvement lies in that: the two stepping motors are respectively positioned at the left side and the right side of the outer frame and are connected with the bearing of the inner frame through the shaft connector.
The further improvement lies in that: the gyroscope uses a JY62 sensor to read the deflection angle of the two momentum wheels and the deflection angle of the whole device.
The utility model has the advantages that: the STM32 chip of the utility model is a master control core, and sends corresponding command control to the brushless DC motor driver and the stepping motor driver by reading and analyzing the data of the gyroscope, and the driver reads the command and controls the motor; the brushless direct current motor and the stepping motor drive the momentum wheels, the angular momentum jointly generated by the two momentum wheels can adjust the posture of the device, and the device can be kept balanced by the method.
Drawings
Fig. 1 is a structural diagram of the present invention.
Fig. 2 is a structural view of the inner frame of the present invention.
Fig. 3 is a control flow chart of the present invention.
Wherein: 1. an outer frame; 2. an inner frame; 3. a support plate; 4. a stepping motor; 5. a momentum wheel; 6. a motor fixing seat; 7. a brushless DC motor; 8. an encoder; 9. a gyroscope; 10. mounting holes; 11. a shaft coupling.
Detailed Description
In order to deepen the understanding of the present invention, the following embodiments will be combined to make the present invention do further details, and the present embodiment is only used for explaining the present invention, and does not constitute the limitation of the protection scope of the present invention.
According to fig. 1 and 2, the present embodiment provides a balance posture control device, which includes an outer frame 1 and an inner frame 2, wherein the outer frame 1 and the inner frame 2 are both square frames, the outer frame 1 is provided with the inner frames 2 which are bilaterally symmetrical, a support plate 3 is arranged between the two inner frames 2, the inner frames 2 are connected to the outer frame 1 through bearings, and one end of each bearing is connected to a stepping motor 4; be provided with horizontally momentum wheel 5 in the inner frame 2, momentum wheel 5 passes through the fixed screw on the bearing and is connected with inner frame 2, brushless DC motor 7 is installed through motor fixing base 6 in the upper end of inner frame 2, brushless DC motor 7 passes through the bearing and connects momentum wheel 5, encoder 8 is installed to the lower extreme of inner frame 2, encoder 8 passes through the bearing and is connected with momentum wheel 5 still be provided with gyroscope 9 on the motor fixing base 6.
In this embodiment, the front and rear sides of the outer frame 1 are provided with mounting holes 10, and the outer frame is connected with the test platform by mounting bearings on the mounting holes 10.
In this embodiment, including the control unit, the control unit adopts STM32 main control chip, reads and analyzes the data of gyroscope by the control unit, and sends corresponding instruction to motor control module, and by the driver of motor control module control brushless DC motor and the driver of step motor, the driver reads the instruction and controls brushless DC motor and step motor motion.
The STM32 main control chip is based on the 32-bit microcontroller of ARM Cortex-M3 kernel, and it has advantages such as low power consumption, strong configurability, abundant peripheral equipment and on-chip resource, and the system uses Stm32 as the main control unit, can be under the data that low power consumption efficient processing system produced to make corresponding instruction according to the data.
The brushless DC motor overcomes the congenital defects of the brush DC motor, and replaces a mechanical commutator with an electronic commutator, so the brushless DC motor has the characteristics of good speed regulation performance of the DC motor and the like, and has the advantages of simple structure, no commutation spark, reliable operation, easy maintenance and the like of the AC motor. The device adopts two brushless direct current motors which are positioned at the lower part of the inner frame and are mainly used for driving the direct current motors to rotate.
A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor rotates an angle or one step before inputting a pulse signal, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency. In order to keep the mass distribution of the device uniform, the two stepping motors are respectively positioned at the left side and the right side of the outer frame. The shaft connector is connected with an extending shaft of the inner frame to drive the momentum wheel to deflect.
In this embodiment, the motor control module employs an ESP32 chip.
The ESP32 chip is an embedded chip based on RISC-V Internet of things. The method has the advantages of stable performance, high-grade morning reading, ultralow power consumption and the like. The motor control module uses ESP32 as a brushless dc motor and stepper motor control chip.
In this embodiment, two stepping motors are respectively located at the left and right sides of the outer frame, and the stepping motors are connected with the bearings of the inner frame through shaft connectors.
In the present embodiment, the gyroscope uses a JY62 sensor to read the deflection angles of the two momentum wheels and the deflection angle of the whole device.
The JY6 sensor integrates an MPU6050 module inside, and outputs data through a USART protocol after performing Kalman filtering on the data. The method has the characteristics of high resolution, high reaction speed, high longitude and the like. The present embodiment uses two JY62 sensors, mounted on the upper part of two inner frames, respectively, for reading the angle of deflection of two momentum wheels and the angle of deflection of the whole device.
In this embodiment, the momentum wheel mainly includes two front and back momentum wheels, and two front and back momentum wheels pass through the set screw on the bearing and are connected with the inner frame, and the bearing has restricted the degree of freedom of momentum wheel with the set screw for it can only rotate around the center pin to make one of the momentum wheels, can not slide along the axial.
As shown in fig. 3, a control flow of the balance posture control apparatus is as follows:
when the system is in the inactive state, the two momentum wheels are in a position not far from the equilibrium position. When the system is started, the stepping motor is driven to enable the X axis of the momentum wheel to be in a horizontal position (the X axis is the direction of extending shafts at two ends of the outer frame, and the Y axis is the direction of extending shafts of the inner frame). When the X axis of the momentum wheel is in the horizontal position, the system starts to control the brushless direct current motor to drive the momentum wheel to rotate. The two momentum wheels rotate to generate two angular momentum, the magnitude of the two angular momentum is determined by the angular speed of the momentum wheel rotation, and the angle of the two angular momentum is determined by the angle deflected by the stepping motor.
After the brushless direct current motor and the stepping motor both work, the main control unit starts to read data of the gyroscope, analyzes original data transmitted by the gyroscope, calculates an angle of the stepping motor required to deflect and an angular speed of the direct current motor required to rotate according to a PID algorithm, then codes the angle and the speed, and transmits the angle and the speed to a motor driver through a CAN bus.
And ESP32 control units are arranged in the stepping motor driver and the direct current motor driver, and the ESP32 is communicated with the main control unit through a CAN bus. The stepping motor and the brushless direct current motor driver receive data of the main control unit through the CAN bus, and respond within 1ms after analyzing the received data, so that the stepping motor and the direct current motor CAN quickly reach the set deflection angle and rotation angular velocity.
After the deflection angle of the momentum wheel is changed, the generated angular momentum can adjust the posture of the whole device, the gyroscope can send out a frame of complete data every 10ms, and the data comprises an Euler angle, an angular velocity and an angular acceleration. After the main control unit receives the data, the data is substituted into the PID algorithm, and the operation is repeated in a circulating mode, so that the main body device can reach the set angle quickly.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a balanced attitude control device, including outer frame (1) and inner frame (2), outer frame (1) and inner frame (2) are square frame, its characterized in that: the outer frame (1) is internally provided with inner frames (2) which are bilaterally symmetrical, a supporting plate (3) is arranged between the two inner frames (2), the inner frames (2) are connected to the outer frame (1) through bearings, and one ends of the bearings are connected with stepping motors (4); be provided with horizontally momentum wheel (5) in inner frame (2), momentum wheel (5) are connected with inner frame (2) through the fixed screw on the bearing, brushless DC motor (7) are installed through motor fixing base (6) to the upper end of inner frame (2), brushless DC motor (7) are through bearing connection momentum wheel (5), encoder (8) are installed to the lower extreme of inner frame (2), encoder (8) are connected with momentum wheel (5) through the bearing still be provided with gyroscope (9) on motor fixing base (6).
2. A balance attitude control device according to claim 1, characterized in that: the front side and the rear side of the outer frame (1) are provided with mounting holes (10), and the outer frame is connected with the test platform by mounting bearings on the mounting holes (10).
3. A balance attitude control device according to claim 1, characterized in that: including the control unit, the control unit adopts STM32 main control chip, by the control unit reads and analyzes the data of gyroscope, and sends corresponding instruction and gives motor control module, by motor control module control brushless DC motor's driver and step motor's driver, the driver reads the instruction and controls brushless DC motor and step motor motion.
4. A balance attitude control device according to claim 3, characterized in that: the motor control module employs an ESP32 chip.
5. A balance attitude control device according to claim 1, characterized in that: the two stepping motors are respectively positioned at the left side and the right side of the outer frame and are connected with the bearing of the inner frame through a shaft connector (11).
6. A balance attitude control device according to claim 1, characterized in that: the gyroscope uses a JY62 sensor to read the deflection angle of the two momentum wheels and the deflection angle of the whole device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122716721.0U CN216002893U (en) | 2021-11-08 | 2021-11-08 | Balanced attitude control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122716721.0U CN216002893U (en) | 2021-11-08 | 2021-11-08 | Balanced attitude control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216002893U true CN216002893U (en) | 2022-03-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122716721.0U Active CN216002893U (en) | 2021-11-08 | 2021-11-08 | Balanced attitude control device |
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| CN (1) | CN216002893U (en) |
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2021
- 2021-11-08 CN CN202122716721.0U patent/CN216002893U/en active Active
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