CN101850548A - Inverted pendulum balancing control system based on flywheel - Google Patents
Inverted pendulum balancing control system based on flywheel Download PDFInfo
- Publication number
- CN101850548A CN101850548A CN 201010151221 CN201010151221A CN101850548A CN 101850548 A CN101850548 A CN 101850548A CN 201010151221 CN201010151221 CN 201010151221 CN 201010151221 A CN201010151221 A CN 201010151221A CN 101850548 A CN101850548 A CN 101850548A
- Authority
- CN
- China
- Prior art keywords
- flywheel
- fork
- inverted pendulum
- control system
- system based
- 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.)
- Granted
Links
Images
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention belongs to the category of intelligent robots, in particular to a static unbalanced robot capable of the self-control of balancing. The system controls a flywheel to rotate along the vertical direction with a DC servo motor so as to realize the balancing of the left and the right directions. In detection, in order to realize the posture self-detection of a pendulum bar in a swing process, an inertial navigation system based on an MEMS technology and an inclinometer are adopted to obtain the motion information of the pendulum bar. In safety, both sides of the pendulum bar are provided with pendulum bar side supports capable of conveniently adjusting the maximum angle of the pendulum bar, thereby not only protecting components in the system but also satisfying various control requirements in experiments. In order to reduce the control difficulty, some electronic devices, such as a power supply, a motion controller, a servo driver, a power adapter board and the like are arranged on a base, thereby reducing the pendulum bar control difficulty and improving the stability of the system. In mobility, casters with the brake function are arranged on the four corners of the base, thereby facilitating the debugging of the system in different places.
Description
Technical field
The invention belongs to category of intelligent robots, especially a kind of static unbalance robot that can independently carry out moving equilibrium control.
Background technology
The control of reversible pendulum system is the prominent example that control theory is used.Its mechanism is simple, cost is lower, is convenient to control with the method for analog or digital.Though its version is varied, no matter which kind of structure in itself, all is the nonlinear system of a non-minimum phase, multivariable, absolute instability.Because the absolute instability of reversible pendulum system must take effective measures and control it.Its control method all has purposes widely in military project, space flight, robot field and general industry process, the inversion problem that relates to as the attitude control in control of the perpendicularity in the balance in robot ambulation process control, the rocket launching and the satellite flight etc.Simultaneously, because the existence of frictional force, this system has certain uncertainty.For the research of such complication system, will be referred to the many key issues in system's control theoretically: as nonlinear problem, robustness problem, calm problem, servo-actuated problem and tracking problem etc. can be that example is studied with it.
Along with deepening continuously that the control of reversible pendulum system is studied, the kind of reversible pendulum system is also developed into the inverted pendulum of various ways by simple single inverted pendulum.Common reversible pendulum system generally constitutes (forms such as rotary inverted pendulum are arranged in addition, but less) by dolly and fork two parts, and wherein fork may be one-level, two-stage even multistage, and its length also may change.The target of control all is by applying the power of a horizontal direction to dolly, make dolly stable on the position of expectation, and fork also reaching dynamic balance state straight up basically.
Than general reversible pendulum system, inverted pendulum balancing control system based on flywheel has following distinguishing feature: 1) equilibrium principle difference: general inverted pendulum all is the balance that reaches vertical fork by the speed of control dolly, and based on fixing the bottom of the reversible pendulum system of flywheel, it is that rotation by the top flywheel produces the balance that necessary moment of torsion is controlled fork; 2) control difficulty difference: for general reversible pendulum system, the control of level Four inverted pendulum has been not problem also at present, and for for the reversible pendulum system of flywheel, the control of double inverted pendulum is also had no talent so far and gone research.3) application level difference: general reversible pendulum system is mainly used to the stability, robustness of the system of studying, calm problem or the like.Along with development of science and technology, the raising of people's living standard, people more and more pursue quality and the level of comfort that oneself is lived, so, some intelligent robots are used and are given birth to, because their volume is little, in light weight, function is many, pursued by the modern gradually, wherein, having representational is one-wheel robot, it has only a wheel, occupy littler space, can realize corresponding task, as on utmost point narrow lane footpath, riding in a kind of mode of distinctive dynamic equilibrium, rode very narrow balance beam, the original place is turned round, even can finish the exceedingly difficult movements of tight-wire walking.For the control of its upper body, present many researchers are based on the balance control of flywheel rotation, but go back the wheelbarrow that neither one can independent ambulation at present at home.
Present inverted pendulum mostly is simple rod-type inverted pendulum, in order to strengthen its control difficulty, is the simple superposition of fork, and realistic meaning is not very big.Its electric control system is generally in the lower end of fork, and the quick slip of dolly is that the belt by driven by motor comes transmission, thereby makes the lightweight fork play pendulum, finally makes vertical fork be stabilized in vertically upward position.General volume is big because this installs, quality is heavy, thereby cost is also than higher.
External also have many researchers to be devoted to research based on the inverted pendulum balancing control system of flywheel, and that representative is Model IP/NC Inverted Pendulum, and this system adopts is 110 or 220 volts ac power supply method; What sensor used is infrared sensor, and it is a kind of analog sensor, and certainty of measurement is not high, influences the control of system; Its protective cradle is fixed, and can not regulate the sail angle of fork and vertical direction, lacks certain flexibility; Its electrical system is not placed on the base, does not have transportable castor on the base yet, and mobility is relatively poor.
At the problems referred to above, the present invention has designed a kind of inverted pendulum balancing control system based on flywheel.Reversible pendulum system utilizes the DC servo motor control flywheel in the modular balanced component to regulate along the vertical direction rotation, realizes the balance of left and right directions.Context of detection, in order to realize the real-time detection of inverted pendulum to the fork attitude, the present invention has adopted the inclinator based on the inertial navigation system of micromechanics electronic technology and single shaft to obtain the accurate attitude of fork system in two-dimensional environment.In order to make inverted pendulum have mobile convenience, four castors have been installed under the chassis of reversible pendulum system in the present invention, when the mobile reversible pendulum system of needs, can be easily, the labour-saving moves to another position by a position.
Summary of the invention
The objective of the invention is to propose a kind of inverted pendulum balancing control system, thereby solve the side direction balance control problem of one-wheel robot to a certain extent based on flywheel.
Concrete scheme of the present invention is: a kind of inverted pendulum balancing control system based on flywheel, comprise fork and base, it is characterized in that fixing a direct current brushless servo motor that includes decelerator on the top of fork, front end at electric machine rotational axis is equipped with a flywheel that can thereupon rotate together, and the other end of motor is connected with incremental encoder; The both sides of fork are equipped with obliquity sensor and inclination angle velocity sensor; The bottom of fork is connected with fork supporting seat on the base by the fork rotating shaft; Be furnished with power supply, servo-driver, Power conversion board, motion controller on the base, wherein the output of obliquity sensor, inclination angle velocity sensor and incremental encoder is connected respectively at motion controller, the output of motion controller is connected with servo-driver, the output of servo-driver is connected with incremental encoder, inclination angle velocity sensor, servo-driver, motor are directly powered by power supply respectively, and inclination angle velocity sensor and motion controller are powered power source voltage conversion back by Power conversion board.
Because the control failure is toppled over, break other devices on the base in order to prevent fork, two side stands can be installed in the bilateral symmetry of fork, perhaps place vertical fender bracket in the both sides of base.
Flywheel wherein can be designed to the shape that weight mainly concentrates on circumference, to improve its rotary inertia.
As to further improvement of the present invention, can be separately installed with castor in the bottom of four jiaos of bases with brake system separately, whole system can more convenient, shift position, labour-saving like this, also can be fixed on certain position in needs.
As to further improvement of the present invention, can also a bearing be installed in the outside of flywheel center sleeve, with in order to reduce the pressure of flywheel gravity to motor shaft.
The present invention has the following advantages:
First, all component of the present invention all adopts idea of modular, each assembly can dismounting and change, inertial flywheel as control usefulness in the balanced component, when a kind of inertial flywheel does not satisfy that control requires or needs when changing other flywheel and carrying out related experiment, it can be dismantled, install the flywheel that needs then, in this process, not need other device in the balanced component is pulled down.This maintenance and upgrading for system provides great convenience.
Second; adjustable fork side stand of the present invention not only can change the bearing height of fork side stand according to the needs of inverted pendulum debugging; and as the protective device of oscillating bar assembly; avoid the accident of inverted pendulum in debug process to topple over; can also be as the counterweight of fork; make the center of gravity of system move down as far as possible, help the difficulty of minimizing system control.
The 3rd, be placed with all electronic devices and components that system control needs on the base of the present invention, and the base bottom is convenient to the castor that moves in addition, the brake system that anti-sliding stop is arranged on the castor, such design has increased the mobility of system greatly, also is a kind of embodiment of modularization idea simultaneously.
The present invention is described in further detail below in conjunction with description of drawings and the specific embodiment.
Description of drawings
Fig. 1 is based on the inverted pendulum balancing control system frame for movement isogonism shaft side figure of flywheel;
Fig. 2 is based on the inverted pendulum balancing control system frame for movement front view of flywheel;
Fig. 3 is based on the inverted pendulum balancing control system flywheel part partial view of flywheel;
Fig. 4 is based on the inverted pendulum balancing control system frame for movement side view of flywheel;
Fig. 5 is based on the inverted pendulum balancing control system frame for movement top view 1 of flywheel;
Fig. 6 is based on the inverted pendulum balancing control system frame for movement rearview of flywheel;
Fig. 7 is based on the inverted pendulum balancing control system frame for movement top view 2 of flywheel;
Fig. 8 is based on the inverted pendulum balancing control system electrical system wiring diagram of flywheel;
Among the figure: 1-flywheel, 2-bearing, 3-electric machine support, the 4-motor, 5-fork, 6-fork side stand, the 7-castor, 8-base, 9-fork rotating shaft, 10-fork supporting seat, 11-bearing (ball) cover, 12-motor sleeve pipe, the 13-incremental encoder, 14-inclination angle velocity sensor, 15-obliquity sensor, 16-servo-driver; The 17-motion controller, 18-Power conversion board, 19-power supply, the vertical fender bracket of 20-, 21-base aperture, the little hole matrix of 22-.
The specific embodiment
Embodiment one
1 frame for movement
Present embodiment gross weight 7kg, height 700mm, length 400mm, width 320mm, horn ring (7) diameter 38mm.The frame for movement of reversible pendulum system and electric elements layout following (Fig. 1):
As Fig. 2, shown in 3,4, whole inverted pendulum is an aluminum alloy frame, mainly comprises flywheel 1, motor sleeve pipe 12, fork 5, fork side stand 6, base 8, castor 7.Adopt bearing 2 to connect between flywheel 1 and the motor sleeve pipe 12.Adopt electric machine support 3 to be connected between motor sleeve pipe 12 and the fork 5.The flywheel 1 of reversible pendulum system is that the cross supporting frame and the periphery of hollow is thicker aluminium alloy plate; make its quality major part concentrate on the edge of flywheel; increase the rotary inertia of flywheel; in order to reduce the frictional force that flywheel rotates; the design wears into to a certain degree fillet to the cross supporting frame of hollow; sleeve pipe at the outstanding hollow in the center of cross supporting frame; motor shaft is inserted sleeve pipe; in order to reduce the pressure of flywheel gravity to motor shaft; end at motor sleeve pipe 12; a bearing has been installed in the outside of flywheel center sleeve; and the end of motor sleeve pipe 12 has also been installed a bearing (ball) cover 11, in order to protection and rigid bearing.Step up the rotating shaft that screw steps up motor by two on the flywheel center sleeve, make flywheel in the high speed rotary course, be unlikely to be dished out.The both sides of fork 5 are provided with the fork side stand 6 of anti-down protection; when inverted pendulum is not controlled well for a certain reason; fork 5 will fall down; if there is not fork side stand 6 to support; some devices on the inverted pendulum just may be owing to collision is broken; simultaneously, for the convenience on using with flexibly, each design has 10 * 2 aperture matrix 22 (mounting means can reach 9! in the both sides, front and back of fork 5 the latter halfs Kind), in order to fixing fork side stand 6, and fork side stand 6 is designed to an end one aperture arranged, and the fork side stand 6 of one section hollow is arranged below the aperture, when the aperture of fork side stand 6 was fixed on right row, the fork side stand 6 of hollow had 9 kinds of modes of fixing with aperture matrix 22 left columns at most.Therefore, fork side stand 6 can be installed the multiple position of conversion.Fork 5 is to be connected with fork supporting seat 10 by a fork rotating shaft 9 with base 8, and the both sides of rotating shaft are equipped with the bearing of two models of the same race.Utilize acrylic board fixedly motion controller 17, driver 16 and Power conversion board 18 on the base 10, power supply 19 on the base is pluggable block battery, quite convenient in actual use, when the dead battery on the base, as long as click the switch of battery block bottom, battery just can be taken off smoothly, need not twist and get any one screw, when more renewing battery,, only need passable once pushing away gently along slot.A castor 7 respectively is equipped with in four corners in the bottom of reversible pendulum system base, it is the mobile device of whole system, when moving to a fixing position, can utilize brake gear intrinsic on the horn ring to fix the position of reversible pendulum system, in order to avoid in experimentation, influence the control of system.
2. electrical system type selecting
The emulator of MTK2812 is selected the XDS510USB of hurricane digital display circuit (Beijing) Co., Ltd, USB2.0 interface for use.Servo-driver 16 is selected the ACJ-55-18 of Copley Motion company for use.Obliquity sensor 15 is selected the CXTA-01 double-shaft tilt angle instrument of Crossbow company for use.What inclination angle velocity sensor 14 was selected for use is micro-mechanical gyroscope CRS03-02 (owing to having reserved other mounting means at installed position, so also can use the ADIS16355 gyroscope).
The drive motors 4 of robot is selected the dc brushless motor external member RE35 of Maxon company for use, the 24V power supply, and 90W power, 3.7: 1 planetary reducer GP32C, motor is furnished with incremental optical-electricity encoder, and precision is 500 lines.
Lithium battery is selected LBS-100C standard lithium battery 19 for use, nominal voltage: 29.6V, working range: 33.6V-24V, nominal capacity: 150Wh, holding circuit: built-inly overcharge, cross put, overcurrent and short-circuit protection, integrated electric weight monitoring.
Power conversion board: North China industry control PW-4512 power module 18, to controller and the power supply of other electronic devices, input voltage: 16-40V DC, output voltage: ATX:+3.3V@5A ,+5V/+5VSB@5A ,+12V@5A ,[email protected].
3. electrical system connects
As shown in Figure 8, the method for attachment of electrical system each several part is as follows:
MTK2812 by Power conversion board 18+5V exports power supply, 38 pin of its J7 interface, i.e. A/D conversion input channel, 22 pin of J5, i.e. SPI pin, the SPI signal output part with inclinator CXTA01 and gyroscope CRS03-02 is connected respectively; Gyroscope 14 by the J5 interface of MTK2812 provide+5V exports power supply; 15 24V output power supplies of inclinator by Power conversion board 18.
Being connected between MTK2812 and ACJ-55-18 comprises control signal wire and encoder feedback holding wire.Control signal comprises motor enable signal, direction of motor rotation signal and PWM spin rate control quantity signal.Wherein, 22 pin of the J7 interface of MTK2812 are connected with 3 pin of the J5 interface of the ACJ-55-18 of control motor, as the enable signal line of ACJ-55-18; 20 pin of the J7 interface of MTK2812 are connected with 6 pin of the J5 interface of the ACJ-55-18 of control motor, select holding wire as motor 4 rotation directions; J7 interface 19 pin of MTK2812 are PWM output, are connected with 20 pin of the J5 interface of the ACJ-55-18 of control motor 4, as the spin rate control quantity holding wire.The feedback signal of motor encoder is connected to MTK2812 behind the ACJ-55-18 buffer memory, concrete wiring is 10,11 pin of the J5 interface of ACJ-55-18, connects 13,14 pin of the J6 interface of MTK2812 respectively.
3,4 pin of the J3 interface of ACJ-55-18 are power input, connect respectively power supply output GND and+24V; 3,4 pin of J2 interface are the output of control voltage, respectively with motor+/-input is connected, and wherein is connected in series a motor switch between 3 pin and the motor+input; 4,6 of J4 interface is respectively+5V and GND, be connected with 2,3 lines of encoder winding displacement respectively, 1,8,2,9,3,10 pin of J4 interface are the common mode input of encoder A channel, B passage and zero signal, connect 5,6,7,8,9,10 lines of encoder winding displacement respectively.
4. the operation principle of electrical system
The major function of present embodiment reversible pendulum system is the certain moment of torsion of fast rotational generation by flywheel, the moment of torsion that utilizes flywheel to produce is offset the gravitational moment and the moment of friction of fork system (comprising motor) and flywheel, makes fork finally be stabilized in position straight up.Thus, the operation principle of inverted pendulum electrical system is as shown in Figure 8: the motion controller 17 of reversible pendulum system is obtained the detection signal of inclinator 15, gyroscope 14 by analog-to-digital conversion module, read the feedback signal of encoder through servo-driver 16, then, detection signal that comprehensively receives and feedback signal, calculate the torque controlled quentity controlled variable of motor by predetermined moving equilibrium control algolithm, send corresponding pwm signal and carry out to servo-driver 16; 4 motions of servo-driver 16 control motors, 1 rotation of driven by motor flywheel make the inverted pendulum fork finally be stabilized in straight up position.
Embodiment two
The flywheel 1 of reversible pendulum system is for the cross supporting frame of hollow and be with thicker aluminium alloy plate outward; make its quality major part concentrate on the edge of flywheel; increase the rotary inertia of flywheel; in order to reduce the frictional force that flywheel rotates; can wear into to a certain degree fillet to the cross supporting frame of hollow; reduce resistance; the outstanding screwed axle at the center of cross supporting frame; by (leaving axis hole in the motor shaft in advance) in the rotating shaft that this is rotated to motor; rather than general vertical pressurization; in order to protect motor shaft; outside at motor shaft; the end of motor sleeve pipe 12 is equipped with a bearing; and the terminal part of motor sleeve pipe 12 has electric motor end cap 11 to be protected and rigid bearing; avoid motor shaft being bent owing to the weight of flywheel; like this, in motor ground high speed rotary course, flywheel just is unlikely to be gone out by impelling.
Embodiment three
The present invention is positioned at fork 5 both side surface and has reserved ten row's apertures 21 respectively on base 8, two of every rows, as shown in Figure 7.When side stand is removed; place the vertical fender bracket 20 of adjustable distance respectively in fork 5 both sides; in the time of can preventing that fork from not controlling well for a certain reason; some devices on the inverted pendulum may be broken owing to collision; in addition; by regulating vertical fender bracket and fork, also can be used to regulate the sail angle of fork to distance.
Embodiment four
Because system of the present invention is modularized design, in debug process, if the precision of the sensor of discovery CRS03-02 is not high enough, can the CRS03-02 in the oscillating bar assembly be changed, directly changing ADIS16355 gets final product, because on fork, reserved the position that ADIDS16355 is installed, and their interface can use on the MTK2812 plate.
Embodiment five
A castor 7 respectively is equipped with in four corners in the bottom of reversible pendulum system base, it is the mobile device of whole system, when moving to a fixing position, can utilize brake gear intrinsic on the castor 7 to fix the position of reversible pendulum system, in order to avoid in experimentation, influence the control of system.If in actual debug process, find that inverted pendulum is not to be easy to control, also can take down four castors 7, reduce the height of inverted pendulum, thereby reduce the center of gravity of system.
Claims (7)
1. inverted pendulum balancing control system based on flywheel, comprise fork and base, it is characterized in that fixing a direct current brushless servo motor (4) that includes decelerator on the top of fork (5), front end at electric machine rotational axis is equipped with a flywheel that can thereupon rotate together (1), and the other end of motor is connected with incremental encoder (13); The both sides of fork (5) are equipped with obliquity sensor (15) and inclination angle velocity sensor (14); The bottom of fork is connected with fork supporting seat (10) on the base (8) by fork rotating shaft (9); Be furnished with power supply (19) on the base (8), servo-driver (16), Power conversion board (18), motion controller (17), obliquity sensor (15) wherein, the output of inclination angle velocity sensor (14) connects respectively at motion controller (17), the output of motion controller (17) is connected with servo-driver (16), the output of servo-driver (16) is connected with incremental encoder (13), inclination angle velocity sensor (14), servo-driver (16), motor (4) is directly powered by power supply (15) respectively, and inclination angle velocity sensor (14) and motion controller (17) are powered after by the voltage transitions of Power conversion board (18) with power supply (15).
2. a kind of inverted pendulum balancing control system based on flywheel according to claim 1 is characterized in that also being symmetrically installed with two side stands (6) in the both sides of fork (5).
3. a kind of inverted pendulum balancing control system based on flywheel according to claim 1 is characterized in that placing vertical fender bracket (20) in the both sides of base (8).
4. a kind of inverted pendulum balancing control system based on flywheel according to claim 1 is characterized in that described flywheel (1) can be designed to the shape that weight mainly concentrates on circumference, to improve its rotary inertia.
5. a kind of inverted pendulum balancing control system based on flywheel according to claim 1 is characterized in that being separately installed with castor (7) in the bottom of (8) four jiaos of bases.
6. a kind of inverted pendulum balancing control system based on flywheel according to claim 5 is characterized in that described castor (7) has brake system separately.
7. a kind of inverted pendulum balancing control system based on flywheel according to claim 1 is characterized in that installing in the outside of flywheel (1) center sleeve a bearing (2), with in order to reduce the pressure of flywheel gravity to motor shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101512210A CN101850548B (en) | 2010-04-16 | 2010-04-16 | Inverted pendulum balancing control system based on flywheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101512210A CN101850548B (en) | 2010-04-16 | 2010-04-16 | Inverted pendulum balancing control system based on flywheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101850548A true CN101850548A (en) | 2010-10-06 |
| CN101850548B CN101850548B (en) | 2011-06-08 |
Family
ID=42802311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101512210A Expired - Fee Related CN101850548B (en) | 2010-04-16 | 2010-04-16 | Inverted pendulum balancing control system based on flywheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101850548B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102880100A (en) * | 2012-10-26 | 2013-01-16 | 黑龙江大学 | Swing-type electronic control pendulum |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN105222957A (en) * | 2015-09-15 | 2016-01-06 | 成都绿迪科技有限公司 | A kind of pressure flywheel static balance test device |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN106855717A (en) * | 2017-01-17 | 2017-06-16 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
| CN108970045A (en) * | 2018-08-08 | 2018-12-11 | 浙江海洋大学 | A kind of golf club with generating function |
| CN109979303A (en) * | 2019-04-22 | 2019-07-05 | 合肥磐石自动化科技有限公司 | A kind of comprehensive balanced interactive apparatus for demonstrating |
| CN111730605A (en) * | 2020-08-04 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Robot posture control method and device, readable storage medium and robot |
| CN113927585A (en) * | 2021-10-20 | 2022-01-14 | 深圳市优必选科技股份有限公司 | Robot balance control method and device, readable storage medium and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6401011B1 (en) * | 2000-02-02 | 2002-06-04 | Aida Engineering Co., Ltd. | Synchronous control device for robots |
| CN2884387Y (en) * | 2005-10-18 | 2007-03-28 | 中国科学技术大学 | Two-wheeled, remote-controlled trolly with its upside down pendulum |
| CN201035818Y (en) * | 2007-04-27 | 2008-03-12 | 北京工业大学 | Mass centre adjustable carriage type inverted pendulum |
| CN201674326U (en) * | 2010-04-16 | 2010-12-15 | 北京工业大学 | Inverted pendulum balance control system based on flywheel |
-
2010
- 2010-04-16 CN CN2010101512210A patent/CN101850548B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6401011B1 (en) * | 2000-02-02 | 2002-06-04 | Aida Engineering Co., Ltd. | Synchronous control device for robots |
| CN2884387Y (en) * | 2005-10-18 | 2007-03-28 | 中国科学技术大学 | Two-wheeled, remote-controlled trolly with its upside down pendulum |
| CN201035818Y (en) * | 2007-04-27 | 2008-03-12 | 北京工业大学 | Mass centre adjustable carriage type inverted pendulum |
| CN201674326U (en) * | 2010-04-16 | 2010-12-15 | 北京工业大学 | Inverted pendulum balance control system based on flywheel |
Non-Patent Citations (1)
| Title |
|---|
| 《计算机测量与控制》 20091231 阮晓钢等 一级直线倒立摆匀速行走的模糊控制研究与实现 56-59 1-7 第17卷, 第1期 2 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102237006B (en) * | 2011-05-12 | 2013-04-10 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN102237006A (en) * | 2011-05-12 | 2011-11-09 | 北京工业大学 | Inverted pendulum system based on counter moment rotary mechanism |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102445944B (en) * | 2011-10-10 | 2014-05-21 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102880100A (en) * | 2012-10-26 | 2013-01-16 | 黑龙江大学 | Swing-type electronic control pendulum |
| CN102880100B (en) * | 2012-10-26 | 2014-08-20 | 黑龙江大学 | Swing-type electronic control pendulum |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN103645735B (en) * | 2013-12-04 | 2016-01-20 | 桂林电子科技大学 | A kind of wheelbarrow robot realizing self-equilibrating |
| CN106371434B (en) * | 2015-07-23 | 2020-06-23 | 联想(北京)有限公司 | Method for controlling mobile device to keep balance and mobile device |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN105222957A (en) * | 2015-09-15 | 2016-01-06 | 成都绿迪科技有限公司 | A kind of pressure flywheel static balance test device |
| CN106855717A (en) * | 2017-01-17 | 2017-06-16 | 北京工业大学 | A kind of pair of flying wheel space reversible pendulum system |
| CN108970045A (en) * | 2018-08-08 | 2018-12-11 | 浙江海洋大学 | A kind of golf club with generating function |
| CN109979303A (en) * | 2019-04-22 | 2019-07-05 | 合肥磐石自动化科技有限公司 | A kind of comprehensive balanced interactive apparatus for demonstrating |
| CN111730605A (en) * | 2020-08-04 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Robot posture control method and device, readable storage medium and robot |
| CN113927585A (en) * | 2021-10-20 | 2022-01-14 | 深圳市优必选科技股份有限公司 | Robot balance control method and device, readable storage medium and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101850548B (en) | 2011-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101850548B (en) | Inverted pendulum balancing control system based on flywheel | |
| CN102445944B (en) | Single-wheel self-balancing robot system | |
| CN203186511U (en) | Segway without handle | |
| US20110010013A1 (en) | Single wheel robot system and its control method | |
| US20200102043A1 (en) | Robotic steering mechanism for autonomous bicycle | |
| CN103817683A (en) | Robot | |
| WO2010130179A1 (en) | Flexible two-wheel self-balance robot system and motion control method thereof | |
| CN105620572B (en) | Service robot omni-directional moving mechanism | |
| CN201525024U (en) | Flexible two-wheel self-balance robot | |
| CN202180886U (en) | Self-balanced intelligent traffic robot | |
| CN111361681B (en) | Device and method capable of realizing self-balancing of bicycle and bicycle | |
| CN202879697U (en) | Intelligent self-balancing traffic robot | |
| CN211223720U (en) | Wheel and pedal part linkage mechanism of electric balance car and electric balance car | |
| CN202351703U (en) | Single-wheel self-balancing robot system | |
| CN105599922A (en) | A 1/6g low gravity balance hoisting device | |
| KR20090126501A (en) | Trolley for assembly of large size satellite | |
| CN201674326U (en) | Inverted pendulum balance control system based on flywheel | |
| CN105302148A (en) | Gyroscopic wheelbarrow robot system capable of realizing self-balancing | |
| CN102556193A (en) | Hopping robot capable of hopping continuously | |
| CN101537615B (en) | Two-wheeled vertical type self balancing robot based on infrared posture detection and control method thereof | |
| CN103963868A (en) | Three-legged robot capable of turning over in midair in crossed mode | |
| CN107651075A (en) | A kind of gyrocontrol two, which is taken turns, does not move backward | |
| CN204021043U (en) | Intersection somersault tripod robot | |
| CN111284629B (en) | Self-balancing bicycle and control method thereof | |
| KR101603846B1 (en) | Robot Apparatus of Traffic Control Mannequin |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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: 20110608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |