CN103786816A - Traveling control method for two-wheeled balance car - Google Patents
Traveling control method for two-wheeled balance car Download PDFInfo
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- CN103786816A CN103786816A CN201410056763.8A CN201410056763A CN103786816A CN 103786816 A CN103786816 A CN 103786816A CN 201410056763 A CN201410056763 A CN 201410056763A CN 103786816 A CN103786816 A CN 103786816A
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Abstract
The invention discloses a traveling control method for a two-wheeled balance car. The method includes the steps that S1, the current trim angle, trim angle speed and output speed of the balance car are obtained; S2, target speed of the balance car is set; S3, a PD controller inside the balance car is used for control over the trim angle in a self-adaptation mode, so that angle PD control output is obtained, and a PI controller inside the balance car is used for control over the output speed in a self-adaptation mode, so that PI control output is obtained; S4, according to the obtained information, a closed-loop control system of the balance car is used for obtaining an accelerated speed output quantity acc; S5, the obtained accelerated speed output quantity acc serves as set input of a motor, it is guaranteed that a motor outputs an accurate accelerated speed signal, and the output speed of the balance car is controlled at the target speed. The output speed is effectively controlled, so that the balance car travels according to a preset schedule.
Description
Technical field
The present invention relates to a kind of travel control method of two-wheeled balance truck.
Background technology
Double-wheel self-balancing car has been shown up prominently in the modern means of communication gradually with its dexterity, the feature such as energy-conservation, light, but realizing outside manned function, balance truck is as one of member of robot family, it can also provide some more interesting functions, such as functions such as automatic walking and dance step realizations.Automatically walking and other athletic postures need to have comparatively accurate control to realize.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of travel control method of two-wheeled balance truck, effectively controls the output speed of balance truck, makes balance truck can make exercises, possesses more interest.
In order to solve the problems of the technologies described above, the present invention takes following technical scheme:
A travel control method for two-wheeled balance truck, comprises the following steps:
S1, obtains the current pitch angle of balance truck
, rate of pitch and output speed x;
S2, arranges the target velocity of balance truck;
S3, utilizes the PD controller of balance truck inside to carry out adaptive control to pitch angle, obtains angle PD and controls output
, and utilize the PI controller of balance truck inside to carry out adaptive control to output speed, obtain speed PI and control output
, the displacement of ought last time travelling that wherein x is balance truck;
S4, according to the above-mentioned information getting, obtains acceleration/accel output acc by the closed loop control system of balance truck;
S5, the given input using the acceleration/accel output acc obtaining as motor, guarantees that motor exports acceleration signal accurately, and the output speed of balance truck is controlled to target velocity.
In described step S5, according to formula
calculate acceleration/accel output acc.
The velocity contrast of two wheels of balance truck is also set in described step S2, and the time length of this velocity contrast.
The present invention fully controls the output speed of balance truck, makes the balance truck balance of travelling, and regulates and control luffing angle, for maintaining the balance of balance truck, and can set the velocity contrast of two wheels, make car can make some more difficult actions, as dance step layout, improve the interest of car.
The specific embodiment
For the ease of those skilled in the art's understanding, below in conjunction with accompanying drawing, the invention will be further described.
The present invention has disclosed a kind of travel control method of two-wheeled balance truck, the method based on two-wheeled balance truck, its inside is provided with the acceleration pick-up of the acceleration signal for gathering balance truck, and gyroscope, can be used for gathering the information such as the angle of balance truck.Balance truck is taked closed loop control, and PD controller and PI controller are installed.Because the balance truck of this class formation is all current known products, no longer the inner structure of balance truck is carried out to detailed repeating at this.
The inventive method comprises the following steps: S1, obtains the current pitch angle of balance truck
, rate of pitch and output speed x.Utilize the angular velocity signal on the inner gyro sensor balance truck two-wheeled of installing of balance truck, and utilize acceleration pick-up to obtain the acceleration signal of car, then the data that make to be got by gyro sensor and acceleration pick-up by the mode of complementary filter merge and obtain pitch angle and rate of pitch, and get current output speed by the coder of installing in balance truck motor internal.When balance truck erectility, be equilibrium point, turning forward or retreating has produced certain luffing angle.
S2, arranges the target velocity of balance truck.This target velocity can dynamically arrange, and sets flexibly as the case may be, is set by the remote controller of balance truck, makes balance truck can not remain that a target velocity travels.In the time that the current output speed of balance truck is 0, balance truck is quiescence, and when output speed is worth for other, balance truck under steam.
S3, utilizes the PD controller of balance truck inside to carry out adaptive control to pitch angle, obtains angle PD and controls output
, and utilize the PI controller of balance truck inside to carry out adaptive control to output speed, obtain speed PI and control output
, the displacement of ought last time travelling that wherein x is balance truck, balance truck this time starts the displacement starting to current time.By angle and speed are controlled, guarantee that balance truck there will not be the problem of overturning or speed shakiness.
S4, according to the above-mentioned information getting, obtains acceleration/accel output acc by the closed loop control system of balance truck.By the information such as present speed and target velocity of the pitch angle obtaining in step S1 and step S2, balance truck, the closed loop control system of substitution balance truck, the closed loop control system herein adopting is the closed loop control system of complete state feedback, by pitch angle is carried out to self adaptation PD, speed is carried out to PI control, thereby current pitch angle and speed are carried out to a vernier control, make balance truck there will not be relatively large deviation, guarantee degree of balance.Can be according to formula
calculate acceleration/accel output acc.
S5, the given input using the acceleration/accel output acc obtaining as motor, guarantees that motor exports acceleration signal accurately, and the output speed of balance truck is controlled to target velocity, and balance truck is controlled.
In addition, the velocity contrast of two wheels of balance truck also can be set in step S2, and the time length of this velocity contrast.By making the output speed difference of two wheels of balance truck, there is velocity contrast in the output speed of two wheels, realize the rotation of balance truck, be similar to dance step action, control the time length of this velocity contrast, can realize the holding time of this dance step action, thereby realize the walking of the different attitudes of balance truck.In the time that the velocity contrast of two wheels is 0, balance truck is kept straight on or is static.In the time that the output speed of two wheels exists difference, balance truck, in actual flexion walking or the walking of turning, has various attitudes, makes balance truck have more interest.
By upper, the information that the method for control method of the present invention by complementary filter collects gyro sensor and acceleration pick-up merges, dynamic Offered target speed, then every terms of information is updated in closed loop control system, by formula
calculate acceleration/accel output, the given input using this acceleration/accel output as motor, is then controlled and is guaranteed that motor exports acceleration signal accurately by PI, guarantees that motor travels in target velocity.And by the velocity contrast of two wheels of balance truck and the time length of this velocity contrast are set, realize the walking of the multiple different attitudes of balance truck.
Claims (3)
1. a travel control method for two-wheeled balance truck, comprises the following steps:
S1, obtains the current pitch angle of balance truck
, rate of pitch and output speed;
S2, arranges the target velocity of balance truck;
S3, utilizes the PD controller of balance truck inside to carry out adaptive control to pitch angle, obtains angle PD and controls output
, and utilize the PI controller of balance truck inside to carry out adaptive control to output speed, obtain speed PI and control output
, the displacement of ought last time travelling that wherein x is balance truck;
S4, according to the above-mentioned information getting, obtains acceleration/accel output acc by the closed loop control system of balance truck;
S5, the given input using the acceleration/accel output acc obtaining as motor, guarantees that motor exports acceleration signal accurately, and the output speed of balance truck is controlled to target velocity.
2. the travel control method of two-wheeled balance truck according to claim 1, is characterized in that, in described step S4, according to formula
calculate acceleration/accel output acc.
3. the travel control method of two-wheeled balance truck according to claim 1, is characterized in that, the velocity contrast of two wheels of balance truck is also set in described step S2, and the time length of this velocity contrast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410056763.8A CN103786816A (en) | 2014-02-20 | 2014-02-20 | Traveling control method for two-wheeled balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410056763.8A CN103786816A (en) | 2014-02-20 | 2014-02-20 | Traveling control method for two-wheeled balance car |
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| CN103786816A true CN103786816A (en) | 2014-05-14 |
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| CN201410056763.8A Pending CN103786816A (en) | 2014-02-20 | 2014-02-20 | Traveling control method for two-wheeled balance car |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575107A (en) * | 2015-12-31 | 2016-05-11 | 小米科技有限责任公司 | Balance car fleet control method and control device, and balance car |
| CN105799828A (en) * | 2016-03-17 | 2016-07-27 | 杭州骑客智能科技有限公司 | Motion control method and system for man-machine interaction balance car |
| CN107281738A (en) * | 2017-07-27 | 2017-10-24 | 纳恩博（北京）科技有限公司 | Wheel skidding device |
| CN107479559A (en) * | 2017-09-22 | 2017-12-15 | 中国地质大学（武汉） | A kind of market blindmen intelligent shopping guide system and method |
| CN107942676A (en) * | 2017-12-14 | 2018-04-20 | 长春工业大学 | A kind of balance car control method using fuzzy algorithmic approach |
| CN108068938A (en) * | 2016-11-11 | 2018-05-25 | 广东高标电子科技有限公司 | A kind of two-wheel car method for control speed and system |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN109823205A (en) * | 2019-04-08 | 2019-05-31 | 广东工业大学 | Upright vehicle charging system and upright vehicle |
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| US20100030441A1 (en) * | 2008-07-29 | 2010-02-04 | Yusuke Kosaka | Travel device and control method of travel device |
| CN101823485A (en) * | 2010-03-25 | 2010-09-08 | 武汉若比特机器人有限公司 | Sensor processing and balancing control algorithm of wheeled inverted pendulum |
| CN103010366A (en) * | 2011-09-26 | 2013-04-03 | 东莞易步机器人有限公司 | Steering and speed control method for two-wheeled vehicle |
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| CN1175205A (en) * | 1995-02-03 | 1998-03-04 | 德卡产品有限公司 | Transport vehicles and methods |
| US20100030441A1 (en) * | 2008-07-29 | 2010-02-04 | Yusuke Kosaka | Travel device and control method of travel device |
| CN101823485A (en) * | 2010-03-25 | 2010-09-08 | 武汉若比特机器人有限公司 | Sensor processing and balancing control algorithm of wheeled inverted pendulum |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575107A (en) * | 2015-12-31 | 2016-05-11 | 小米科技有限责任公司 | Balance car fleet control method and control device, and balance car |
| CN105575107B (en) * | 2015-12-31 | 2018-03-20 | 小米科技有限责任公司 | Control method, control device and the balance car of balance car fleet |
| CN105799828A (en) * | 2016-03-17 | 2016-07-27 | 杭州骑客智能科技有限公司 | Motion control method and system for man-machine interaction balance car |
| CN108068938A (en) * | 2016-11-11 | 2018-05-25 | 广东高标电子科技有限公司 | A kind of two-wheel car method for control speed and system |
| CN107281738A (en) * | 2017-07-27 | 2017-10-24 | 纳恩博（北京）科技有限公司 | Wheel skidding device |
| CN107479559A (en) * | 2017-09-22 | 2017-12-15 | 中国地质大学（武汉） | A kind of market blindmen intelligent shopping guide system and method |
| CN107479559B (en) * | 2017-09-22 | 2023-08-29 | 中国地质大学（武汉） | Intelligent shopping guide system and method for blind people in mall |
| CN107942676A (en) * | 2017-12-14 | 2018-04-20 | 长春工业大学 | A kind of balance car control method using fuzzy algorithmic approach |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN109823205A (en) * | 2019-04-08 | 2019-05-31 | 广东工业大学 | Upright vehicle charging system and upright vehicle |
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Application publication date: 20140514 |