CN103010360A - Movement control method of self-balancing two-wheel vehicle - Google Patents
Movement control method of self-balancing two-wheel vehicle Download PDFInfo
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Abstract
The invention discloses a movement control method of a self-balancing two-wheel vehicle, which comprises a gyroscope sensor, an acceleration sensor, an acceleration PID (proportion-integration-differential) controller and a speed PID controller, wherein the gyroscope sensor, the acceleration sensor, the acceleration PID controller and the speed PID controller are arranged on the two-wheel vehicle; gyroscope angular speed value data output by the gyroscope sensor and wheel acceleration data output by the acceleration sensor are processed, and then an output fusion angle value is calculated; an output acceleration of wheels is calculated by a control system of the two-wheel vehicle by utilizing the fusion angle value and a gyroscope angular speed value, and then the output acceleration is fine-tuned by the acceleration PID controller by utilizing a PID fuzzy control parameter table; the current output speed is collected by the control system of the two-wheel vehicle, and the target speed is obtained; and the PID algorithm regulation is performed by the speed PID controller, so as to control the current output speed to the target speed. According to the movement control method of the self-balancing two-wheel vehicle, smooth running of the two-wheel vehicle is realized through the acceleration PID controller and the speed PID controller.
Description
Technical field
The present invention relates to the automatic control technology field, especially relate to a kind of motion control method of balanced car with two wheels.
Background technology
Inverted pendulum is a kind of complexity, nonlinear, unsettled system, and it is typical scientific research or the instructional device of modern control theory and application.Because irregular ground situation, the load of wheel has larger variation, therefore, the range of movement of existing inverted pendulum all is very limited, controlling quantity is can not Jia Detai large, otherwise will exceed its restriction, so that some algorithms can't realize on these reversible pendulum systems, can not effectively control the balance of car body.Therefore, the present invention proposes the method for directly acceleration/accel of car body being controlled.
Existing technology mentions that seldom the fusion method of sensor reaches car body in the protection on the control policy, because balanced car with two wheels itself is exactly a time-dependent system, in the practical application, will run into some accidents inevitably.
Summary of the invention
The defective that the present invention be directed to the existence of above-mentioned background technology provides a kind of motion control method of balanced car with two wheels, guarantees controllability and the traveling comfort of two-wheel car.
For achieving the above object, the invention discloses a kind of motion control method of balanced car with two wheels, may further comprise the steps:
(1) be fixed with gyro sensor and acceleration pick-up at two-wheel car, gyro sensor gathers angular velocity signal on the two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on the two-wheel car;
(2) the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system, and the data obtained is processed the fusion angle value that calculates output through the kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, the two-wheel car control system utilizes the gyroscope magnitude of angular velocity of the fusion angle value of sensor output and gyro sensor output to calculate the output acceleration/accel of wheel, and described acceleration/accel PID controller utilizes PID fuzzy control parameter table that the output acceleration/accel of wheel is finely tuned;
(4) described two-wheel car control system inside is provided with the speed by PID controller, described two-wheel car control system collects the current output speed of two-wheel car, described two-wheel car control system utilizes current output speed to cooperate the output acceleration/accel of wheel to obtain the target velocity of two-wheel car, and described speed by PID controller carries out the pid algorithm adjusting current output speed is controlled at target velocity.
Further, the data that gather of described gyro sensor and acceleration pick-up calculate the formula that merges angle value and are:
fused_angle=(1-kg)*(fused_angle+
anglerate*dt)+kg*A* arcsin(acc)
Wherein fused_angle is for merging the output of angle value, and anglerate is gyrostatic output, and acc is for adding
The output of speed sensor, A is system parameter, and A* arcsin (acc) is the inverted pendulum angle of inclination, and kg is for logical
Cross the adjustment factor that the kalman filter calculates;
Further, the difference of described target velocity and current output speed obtains tolerance speed, and described speed by PID controller carries out pid algorithm with the tolerance speed that obtains to be regulated;
Further, the computing formula of the output acceleration/accel of described wheel:
acc_speed=P*fused_angle +I*
fused_angle*dt+D*anglerate
Wherein fused_angle is for merging the output of angle value, and anglerate is gyrostatic output, and acc_speed is the output acceleration/accel of wheel;
Further, the parameter P of described PID fuzzy control parameter table, parameter I, parameter D span are 4～50;
Further, the gyroscope magnitude of angular velocity of the fusion angle value of described sensor output and gyro sensor output is divided into 4 quadrants with the state of kinematic motion of two-wheel car, and the setting value when the parameter P of described PID fuzzy control parameter table, parameter I, the parameter D setting value requirement when the two-wheel car car body is in first quartile with third quadrant is in the second quadrant and fourth quadrant from the two-wheel car car body requires different.
In sum, the motion control method of a kind of balanced car with two wheels of the present invention carries out data by the kalman filter with the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up and processes the fusion angle value that obtains sensor output, the two-wheel car control system is utilized the fusion angle value of described sensor output and the output acceleration/accel that the gyroscope magnitude of angular velocity calculates wheel, acceleration/accel PID controller utilizes PID fuzzy control parameter table the output acceleration/accel of wheel to be finely tuned to guarantee controllability and the traveling comfort of two-wheel car, the two-wheel car control system collects the current output speed of two-wheel car and cooperates the output acceleration/accel of wheel to obtain the target velocity of two-wheel car simultaneously, regulates the smooth running that allows current output speed reach fast target velocity realization two-wheel car thereby pass through pid algorithm.
Description of drawings
Fig. 1 is the motion control method functional block diagram of a kind of balanced car with two wheels of the present invention.
Fig. 2 is the balanced car with two wheels shown in Figure 1 motion scheme drawing that leans forward.
Fig. 3 is balanced car with two wheels layback motion scheme drawing shown in Figure 1.
Fig. 4 is the system of axes figure that the gyroscope magnitude of angular velocity of the fusion angle value of balanced car with two wheels sensor shown in Figure 1 output and gyro sensor output combines.
The specific embodiment
For further understanding feature of the present invention, technological means and the specific purposes that reach, function, below in conjunction with accompanying drawing and the specific embodiment the present invention is described in further detail.
As shown in Figures 1 to 4, the motion control method of a kind of balanced car with two wheels of the present invention, realize as follows:
(1) be fixed with gyro sensor and acceleration pick-up at two-wheel car, gyro sensor gathers angular velocity signal on the two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on the two-wheel car;
(2) the wheel acceleration/accel acc of the output of the gyroscope magnitude of angular velocity anglerate of the output of gyro sensor and acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system (ADC), after the data processing by necessity, can calculate the fusion angle value fused_angle of sensor output:
fused_angle=(1-kg)*(fused_angle+
anglerate *dt)+kg*A* arcsin(acc)
Wherein A is system parameter, and its setting value is that 57.29, kg adjusts the factor in the present embodiment, is the kalman gain that calculates by the kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, and the two-wheel car control system is used following formula with the fusion angle value fused_angle of sensor output and the gyroscope magnitude of angular velocity anglerate of gyro sensor output:
acc_speed=P*fused_angle +I*
fused_angle*dt+D*anglerate
Calculate the output acceleration/accel acc_speed of wheel.The output acceleration/accel acc_speed of described acceleration/accel PID controller control wheel, described parameter P, parameter I, parameter D have formed the PID fuzzy control parameter table of acceleration/accel PID controller, described parameter P, parameter I, parameter D span are 4～50, and described parameter P, parameter I, parameter D setting value can finely tune to guarantee to the output acceleration/accel acc_speed of wheel controllability and the traveling comfort of two-wheel car.
(4) described two-wheel car control system inside is provided with the speed by PID controller, described two-wheel car control system collects the current output speed cur_speed of two-wheel car, described two-wheel car control system utilizes current output speed cur_speed to cooperate the output acceleration/accel acc_speed of wheel to obtain the target velocity aim_speed of two-wheel car, utilize the difference of target velocity aim_speed and current output speed cur_speed to obtain tolerance speed err_speed, described speed by PID controller carries out pid algorithm with the tolerance speed err_speed that obtains to be regulated:
Kp*err_speed+Ki*
err_speed*dt+Kd*
Wherein, described Kp span is 100～1000, the Ki span is that 10～500, Kd value is 0～50, thereby the setting value of described parameter K p, parameter K i, parameter K d can allow current output speed cur_speed reach fast the smooth running that target velocity aim_speed realizes two-wheel car.
(5) the gyroscope magnitude of angular velocity anglerate of the fusion angle value fused_angle of described sensor output and gyro sensor output is divided into 4 quadrants with the state of kinematic motion of two-wheel car, first quartile represents the two-wheeled vehicle bench over and to preacceleration, the second quadrant represents the two-wheeled vehicle trunk bending backwards and accelerates backward, third quadrant represents the two-wheeled vehicle trunk bending backwards and slows down backward, and fourth quadrant represents the two-wheeled vehicle bench over and to front reduction gear.Setting value when described parameter P, parameter I, the parameter D setting value requirement when the two-wheel car car body is in first quartile with third quadrant is in the second quadrant and fourth quadrant from the two-wheel car car body requires different, speed of response at first quartile and third quadrant two-wheel car car body is eager to excel than the speed of response at the second quadrant and fourth quadrant two-wheel car car body, to improve two-wheel car controllability and traveling comfort.
In sum, the motion control method of a kind of balanced car with two wheels of the present invention carries out data by the kalman filter with the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up and processes the fusion angle value that obtains sensor output, the two-wheel car control system is utilized the fusion angle value of described sensor output and the output acceleration/accel that the gyroscope magnitude of angular velocity calculates wheel, acceleration/accel PID controller utilizes PID fuzzy control parameter table the output acceleration/accel of wheel to be finely tuned to guarantee controllability and the traveling comfort of two-wheel car, the two-wheel car control system collects the current output speed of two-wheel car and cooperates the output acceleration/accel of wheel to obtain the target velocity of two-wheel car simultaneously, regulates the smooth running that allows current output speed reach fast target velocity realization two-wheel car thereby pass through pid algorithm.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as limitation of the scope of the invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with claims.
Claims (6)
1. the motion control method of a balanced car with two wheels is characterized in that, may further comprise the steps:
(1) be fixed with gyro sensor and acceleration pick-up at two-wheel car, gyro sensor gathers angular velocity signal on the two-wheel car, and acceleration pick-up gathers corresponding acceleration signal on the two-wheel car;
(2) the wheel acceleration/accel of the output of the gyroscope magnitude of angular velocity of the output of gyro sensor and acceleration pick-up is converted into digital quantity after reading by the inner A/D converter of two-wheel car control system, and the data obtained is processed the fusion angle value that calculates output through the kalman filter;
(3) described two-wheel car control system inside is provided with acceleration/accel PID controller, the two-wheel car control system utilizes the gyroscope magnitude of angular velocity of the fusion angle value of sensor output and gyro sensor output to calculate the output acceleration/accel of wheel, and described acceleration/accel PID controller utilizes PID fuzzy control parameter table that the output acceleration/accel of wheel is finely tuned;
(4) described two-wheel car control system inside is provided with the speed by PID controller, described two-wheel car control system collects the current output speed of two-wheel car, described two-wheel car control system utilizes current output speed to cooperate the output acceleration/accel of wheel to obtain the target velocity of two-wheel car, and described speed by PID controller carries out the pid algorithm adjusting current output speed is controlled at target velocity.
2. the motion control method of a kind of balanced car with two wheels according to claim 1 is characterized in that, institute
Stating data that gyro sensor and acceleration pick-up gather calculates the formula that merges angle value and is:
fused_angle=(1-kg)*(fused_angle+
anglerate*dt)+kg*A* arcsin(acc)
Wherein fused_angle is for merging the output of angle value, and anglerate is gyrostatic output, and acc is for adding
The output of speed sensor, A is system parameter, and A* arcsin (acc) is the inverted pendulum angle of inclination, and kg is for logical
Cross the adjustment factor that the kalman filter calculates.
3. the motion control method of a kind of balanced car with two wheels according to claim 1 is characterized in that: institute
The difference of stating target velocity and current output speed obtains tolerance speed, and described speed by PID controller will obtain
Tolerance speed is carried out pid algorithm and is regulated.
4. the motion control method of a kind of balanced car with two wheels according to claim 1 is characterized in that, institute
State the computing formula of the output acceleration/accel of wheel:
acc_speed=P*fused_angle +I*
fused_angle*dt+D*anglerate
Wherein fused_angle is for merging the output of angle value, and anglerate is gyrostatic output, acc_speed
Output acceleration/accel for wheel.
5. the motion control method of a kind of balanced car with two wheels according to claim 1 is characterized in that: institute
Parameter P, parameter I, the parameter D span of stating PID fuzzy control parameter table are 4～50.
6. the motion control method of a kind of balanced car with two wheels according to claim 1 is characterized in that: institute
The gyroscope magnitude of angular velocity of stating the fusion angle value of sensor output and gyro sensor output is with two-wheel car
State of kinematic motion is divided into 4 quadrants, and parameter P, parameter I, the parameter D of described PID fuzzy control parameter table exist
Setting value when the two-wheel car car body is in first quartile and third quadrant requires to be in second with the two-wheel car car body and resembles
Setting value when limitting with fourth quadrant requires different.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529850A (en) * | 2013-10-28 | 2014-01-22 | 华南理工大学广州学院 | Control method of two-wheeled self-balance vehicle |
| CN103676650A (en) * | 2013-11-29 | 2014-03-26 | 上海交通大学 | Method for PID (proportion integration differentiation) optimization control with dead zone for two-wheeled self-balancing intelligent vehicle |
| CN103753557A (en) * | 2014-02-14 | 2014-04-30 | 上海创绘机器人科技有限公司 | Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system |
| CN103792946A (en) * | 2014-02-14 | 2014-05-14 | 上海创绘机器人科技有限公司 | Signal processing method for motion type inverted pendulum system control and intelligent self-balancing vehicle signal control system |
| CN104298113A (en) * | 2014-10-22 | 2015-01-21 | 五邑大学 | Self-adaptive fuzzy balance controller for two-wheeled robot |
| CN104999925A (en) * | 2015-07-23 | 2015-10-28 | 北京锐安科技有限公司 | Control method and device of balance car |
| CN105068543A (en) * | 2015-08-11 | 2015-11-18 | 浙江工业大学 | Piggyback-type AGV two wheel synchronization method based on PID control |
| CN105807689A (en) * | 2016-04-29 | 2016-07-27 | 上海海洋大学 | Two-wheel self-balance car control system |
| CN106379478A (en) * | 2016-09-05 | 2017-02-08 | 深圳市全球卖电子商务有限公司 | Scooter speed control system based on gyroscope and realization method of scooter speed control system |
| CN106802663A (en) * | 2017-03-30 | 2017-06-06 | 桂林理工大学 | Flying wheel control method and device |
| CN107562063A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot attitude control method and system |
| CN108594637A (en) * | 2018-05-30 | 2018-09-28 | 大连理工大学 | The point-to-point autokinetic movement control method of double-wheel self-balancing facing |
| CN109202883A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position control method of self-balance robot |
| CN109407689A (en) * | 2018-12-19 | 2019-03-01 | 四川大学 | Fuzzy control method, device and the balanced robot of balanced robot |
| CN110119146A (en) * | 2019-04-30 | 2019-08-13 | 西安工程大学 | A kind of control system and method following balancing trolley certainly |
| CN110147042A (en) * | 2019-05-28 | 2019-08-20 | 金力 | A kind of upright AGV car body control method based on fuzzy control combination PID control |
| CN110941281A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control system |
| CN110941280A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control method |
| CN111273542A (en) * | 2020-01-20 | 2020-06-12 | 武汉科技大学 | Cubic robot, control system and method, and design method |
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