WO2021120739A1 - 一种激光追踪平衡车控制方法 - Google Patents
一种激光追踪平衡车控制方法 Download PDFInfo
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- WO2021120739A1 WO2021120739A1 PCT/CN2020/116240 CN2020116240W WO2021120739A1 WO 2021120739 A1 WO2021120739 A1 WO 2021120739A1 CN 2020116240 W CN2020116240 W CN 2020116240W WO 2021120739 A1 WO2021120739 A1 WO 2021120739A1
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- balance car
- parameter
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- wind wheel
- car
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Definitions
- the invention relates to a control method, in particular to a control method of a laser tracking balance car, belonging to the technical field of laser tracking balance car.
- Electric balance car is also called somatosensory car, thinking car, camera car and so on.
- Its operating principle is mainly based on a basic principle called dynamic stability. It uses the gyroscope and acceleration sensor inside the car body to detect the change of the car body's attitude, and uses the servo control system to accurately drive the motor to respond.
- the adjustment of the system to maintain the balance of the system is a new type of green environmental protection product used by modern people as a means of transportation, leisure and entertainment.
- the laser tracking balance car in the prior art uses the gyroscope and acceleration sensor inside the car body to detect the change of the car body's attitude. This method will cause the problem of the difference between the time axis of the gyroscope and the accelerator.
- the laser tracking camera module is not easy to deal with the complex output in the machine vision algorithm, and the existing balance car can only maintain balance when the balance car is in motion, because the operator has a certain balance force on the balance car during the movement. , But the balance car cannot achieve balance when it is upright. Therefore, a laser tracking balance car control system and its control method are designed to solve the above problems.
- the main purpose of the present invention is to provide a laser tracking balance car control method, which can make the balance car be in a balanced state when it is stationary, and can move the balance car according to the laser.
- the control method of a laser tracking balance car of the present invention includes the following steps:
- Step 1 Receive user operations through the mobile terminal
- Step 2 Send a control command to the Bluetooth module through the mobile terminal
- Step 3 Send the control information to the micro-control chip through the Bluetooth module
- Step 4 The vision module collects the laser signal and generates the motion track and sends it to the micro-control chip;
- Step 5 The micro-control chip detects whether the balance car is in a stationary state, if it is, the angle deviation of the balance car’s attitude is obtained through the six-axis processing module, and then the wind wheel adjustment parameters are determined according to the PI algorithm to make the balance car in a balanced state; if not, pass
- the six-axis processing module obtains the spatial data of the body posture of the balance car, and then determines the adjustment parameters of the DC motor drive module according to the PID algorithm so that the balance car is in a balanced state and moves according to the motion trajectory.
- the wind wheel motor drives the wind wheel to accelerate under instantaneous acceleration to generate centrifugal acceleration and force the trolley in the opposite direction to make the balance car in a balanced state.
- step 5 determining the adjustment parameters of the DC motor drive module according to the PID algorithm to make the balance car in a balanced state specifically includes:
- the proportional parameter is equivalent to the restoring force of the balance car when it falls, and this parameter is greater than the acceleration of gravity. When the proportional parameter is gradually increased, the balance car can start to remain upright.
- the differential parameter is equivalent to the damping force. Adjust the differential parameter Used to suppress the swing of the car model;
- the invention provides a laser tracking balance car control method.
- the laser is detected by a vision module to determine the movement trajectory of the balance car, and then the control of the balance car is realized according to the connection of the mobile terminal and the micro-control chip.
- the operation is simple and the operation is simple.
- the PI algorithm is used to control the wind wheel module to make the balance car in a balanced state
- the PID algorithm is used to control the DC motor module when in motion to make the balance in a balanced state, so that the balance car can also be in a balanced state when it is stationary
- the PI algorithm is used when it is stationary. Since the upright balance will inevitably affect the advancement of the trolley, under the action of the upright control, the trolley will lean forward to obtain acceleration, so the wheels will move backwards.
- Fig. 1 is a system diagram of a preferred embodiment of a control system corresponding to a control method of a laser tracking balance car according to the present invention
- Fig. 2 is a flowchart of a preferred embodiment of a method for controlling a laser tracking balance car according to the present invention.
- a laser tracking balance car control method wherein the tracking balance car includes a Bluetooth module, a DC motor drive module, a micro-control chip, a wind wheel module, a six-axis motion processing module, a vision module, and a mobile terminal, Including the following steps:
- Step 1 Receive user operations through the mobile terminal
- Step 2 Send a control command to the Bluetooth module through the mobile terminal
- Step 3 Send the control information to the micro-control chip through the Bluetooth module
- Step 4 The vision module collects the laser signal and generates the motion track and sends it to the micro-control chip;
- Step 5 The micro-control chip detects whether the balance car is in a stationary state, if it is, the angle deviation of the balance car’s attitude is obtained through the six-axis processing module, and then the wind wheel adjustment parameters are determined according to the PI algorithm to make the balance car in a balanced state; if not, pass
- the six-axis processing module obtains the spatial data of the body posture of the balance car, and then determines the adjustment parameters of the DC motor drive module according to the PID algorithm so that the balance car is in a balanced state and moves according to the motion trajectory.
- the six-axis motion processing module adopts the model MPU-6000 (6050) six-axis motion processing module.
- the Bluetooth module adopts the model CY-BT-04 Bluetooth module, and the chip of the CY-BT-04 Bluetooth module adopts the Blu eCore4-Ext chip, which complies with the V2.1+EDR Bluetooth specification, CY- BT-04 Bluetooth module supports UART, USB, SPI, PCM, SPDIF interfaces, and supports SPP Bluetooth serial port protocol.
- the DC motor drive module adopts the model TB6612FNG DC motor drive module, adopts a high-current MOSFET-H bridge structure, dual-channel circuit output, PWM support frequency up to 100kHz, and the standby state TB6612FNG DC motor drive module has built-in low voltage Detection circuit and thermal shutdown protection circuit.
- the microcontroller chip adopts a low-end 32-bit ARM microcontroller with a model of STM32F series, and its core is Cortex-M3.
- the STM32FARM microcontroller can be divided into three major types according to the size of the on-chip Flash. Type: small capacity (16K and 32K), medium capacity (64K and 128K), large capacity (256K, 384K and 512K), the program memory capacity is 64KB, the voltage is 2V ⁇ 3.6V, the working temperature is -40°C ⁇ 85°C, The data converter A/D10x12b, the oscillator is located inside.
- the vision module adopts an OpenMV camera.
- the OpenMV camera program is written through a high-level language Python script, which can fully control OpenMV, including IO pins, Differentiation frame difference algorithm, ColorTracking color tracking, MarkerTracking mark tracking, OpticalFlow Optical flow algorithm.
- determining the wind wheel adjustment parameters to make the balance car in a balanced state specifically includes: the six-axis processing module obtains the attitude angle and speed information of the balance car, and then differentially processes the attitude angle to obtain the attitude angular velocity, and performs the speed information
- the wind wheel motor drives the wind wheel to accelerate under instantaneous acceleration to generate centrifugal acceleration and force the trolley in the opposite direction to make the balance car in a balanced state.
- determining the adjustment parameters of the DC motor drive module according to the PID algorithm in step 5 so that the balance car is in a balanced state specifically includes:
- the proportional parameter is equivalent to the restoring force of the balance car when it falls, and this parameter is greater than the acceleration of gravity. When the proportional parameter is gradually increased, the balance car can start to remain upright.
- the differential parameter is equivalent to the damping force. Adjust the differential parameter Used to suppress the swing of the car model;
- the balance car Decrease the differential parameter, and then gradually increase the proportional parameter, until the balance car starts to oscillate again, so far determine the maximum value of the proportional parameter, and finally output the motor speed adjustment parameter value of the DC motor module according to the adjusted proportional parameter and the differential parameter.
- the speed and attitude angle information of the balance car are detected and then the motor speed adjustment parameters of the DC motor module (such as the voltage value of the motor speed) are determined to make the DC motor module motor instantaneously accelerate to generate a certain reaction force to make it in a balanced state So as to control the balance car to be in a balanced state.
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
Description
Claims (3)
- 一种激光追踪平衡车控制方法,其特征在于:追踪平衡车包括蓝牙模块、直流电机驱动模块、微控芯片、风轮模块、六轴运动处理模块、视觉模块和移动终端,方法包括如下步骤:步骤1:通过移动终端接收使用者操作;步骤2:通过移动终端发送控制指令至蓝牙模块;步骤3:通过蓝牙模块将控制信息发送至微控芯片;步骤4:视觉模块采集激光信号并生成运动轨迹发送给微控芯片;步骤5:微控芯片检测平衡车是否处于静止状态,若是,则通过六轴处理模块获取平衡车姿态角度偏差,然后根据PI算法确定风轮调整参数使得平衡车处于平衡状态;若不是,则通过六轴处理模块获取平衡车车体姿态的空间数据,然后根据PID算法确定直流电机驱动模块调整参数使得平衡车处于平衡状态并按照运动轨迹移动。
- 根据权利要求1所述的一种激光追踪平衡车控制方法,其特征在于:根据PI算法确定风轮调整参数使得平衡车处于平衡状态具体包括:六轴处理模块获取平衡车姿态角度以及速度信息,然后对姿态角度进行微分处理得到姿态角速度,对速度信息进行积分处理得到速度值,然后根据公式a=kp*B+kd*B′-kp[kp 1*e(k)+ki 1∑e(k)]=得到风轮调整参数a,其中k、p和d为角度调节参数,p 1和i 1为速度调节参数,e(k)为速度信息,B为姿态角度,B′为姿态角速度;根据确定风轮调整参数对风轮的电机瞬间转动需要的电压值进行调整,风轮的电机在瞬时加速下带动风轮加速产生离心加速度将小车往反方向上施力使得平衡车处于平衡状态。
- 根据权利要求1所述的一种激光追踪平衡车控制方法,其特征在于:步骤5中根据PID算法确定直流电机驱动模块调整参数使得平衡车处于平衡状态具体包括:51:比例参数相当于所述平衡车倒下的回复力,该参数要大于重力加速度,当逐步增大比例参数时,所述平衡车开始能够保持直立,微分参数相当于阻尼力,调节微分参数用于抑制车模的摆动;52:调节比例参数P、微分参数D这两个参数时遵循先比例后微分的顺序,先调整比例参数使得所述追踪平衡车能够保持直立并且开始来回摆动,然后逐步增加微分参数,所 述追踪平衡车逐步直立稳定,进一步增大微分参数直到两轮自平衡车开始共振,至此确定微分参数的最大值;53.减小微分参数,然后逐步增大比例参数,直到所述平衡车又开始震荡,至此确定比例参数的最大值,根据调节的比例参数、微分参数最终输出直流电机模块电机速度调整参数值。
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