CN110764524A - Laser tracking balance car control circuit - Google Patents
Laser tracking balance car control circuit Download PDFInfo
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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
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a control circuit of a laser tracking balance car, which comprises a six-axis motion processing module, a Bluetooth module, a motor driving module, a micro-control chip, a voltage stabilizing module and a vision module, wherein the PB8, PB9 and PB52 terminals of the micro-control chip are connected with six-axis motion processing module leads, the PB10 and PB11 terminals of the micro-control chip are connected with the Bluetooth module leads, the PB12PB9, PB13PB8, PB14PB6, PB15PB13, PA8B14, PB15, PB 7, PA8 and PA121 terminals of the micro-control chip are connected with a direct current motor driving module lead, the micro-control chip comprises a clock circuit, a reset circuit and a filter current stabilizing circuit which are connected with the micro-control chip, the control circuit integrates functions of wireless control, infrared tracking and balance operation, an infrared laser tracking function is added on the basis of balance operation, so that the balance car is a single function of balance operation and children are not contacted with artificial intelligence any more, the children can play and learn at the same time, thereby achieving the purpose of learning and entertainment.
Description
Technical Field
The invention relates to a control circuit, in particular to a control circuit of a laser tracking balance car, and belongs to the technical field of laser tracking balance cars.
Background
The social progress means the improvement of living water, the specific gravity of entertainment and learning is continuously increased, especially, a child can learn a lot of things while entertaining, which is an expectation of modern people and a difficult problem of the contemporary society, and is the development trend of future children toys.
The laser tracking balance car is a toy loved by children, can exercise body and intelligence and can increase interaction between parents and children, the laser tracking balance car in the prior art is not intelligent enough and does not have good learning property because of pursuing commercial entertainment at one step, therefore, a control circuit of the laser tracking balance car is designed to realize the intelligentization and learning property of the laser tracking balance car in the prior art, the existing balance car generally keeps balance during movement, and the balance state cannot be kept when the balance car is static.
Disclosure of Invention
The invention mainly aims to provide a control circuit of a laser tracking balance car, which can be wirelessly controlled, can keep a balance state when the balance car moves and is still, and has a simple circuit structure.
The purpose of the invention can be achieved by adopting the following technical scheme:
a laser tracking balance car control circuit comprises a six-axis motion processing module, a Bluetooth module, a motor driving module, a micro-control chip, a voltage stabilizing module and a vision module, wherein PB8, PB9 and PB52 terminals of the micro-control chip are connected with six-axis motion processing module leads, PB10 and PB11 terminals of the micro-control chip are connected with the Bluetooth module leads, PB12PB9, PB13PB8, PB14PB6, PB15PB13, PA8B14, PB15, PA7, PA8 and PA121 terminals of the micro-control chip are connected with direct current motor driving module leads, the micro-control chip comprises a clock circuit, a reset circuit and a filtering current stabilizing circuit which are connected with the micro-control chip, wherein PD0 _ IN and OSC _ OUTPD1 terminals of the micro-control chip are connected with the clock circuit leads, VDDSSA, VSS _2 and VSS _1 and VSS _3 terminals of the micro-control chip are grounded, and VDDD _2, VDD _1, VDD _ OSD _1, VDD _2 and VDD _1 _ D _, The motor driving module comprises a motor driving control unit, an interface P4 and an interface P5, the motor driving control unit comprises a chip U3, the terminals 1 and 2 of the chip U3 are connected, the terminals 3 and 4 of the chip U3 are connected with the ground, the terminals 5 and 6 of the chip U3 are connected, the terminals 7 and 8 of the chip U3 are connected, the terminals 9 and 10 of the chip U3 are connected with the ground, the terminals 11 and 12 of the chip U3 are connected, the terminals 15, 16, 17, 21, 22 and 23 of the chip U3 are connected with the terminals PB6, PB13, PB14, PB15, PA8 and PA7 of the micro-control chip, the terminals 19 and 20 of the chip U3 are connected with the ground, the terminals 13 and 14 of the chip U3 are connected with the terminal of the interface P4, the terminal of the interface P5, the terminal of the interface P4 of the interface P5 and the GND circuit, the IN terminal and the INH terminal of the interface P4 are respectively connected with one end of a resistor R5 and one end of a resistor R7, the other end of the resistor R5 and the other end of the resistor R7 are respectively connected with the ATN1 terminal and the AEN terminal of the external chip U1, the OUT terminal of the interface P4 IS connected with the speed control motor, the SR terminal and the IS terminal of the interface P4 are respectively connected with one end of a resistor R9 and one end of a resistor R11, the other ends of the resistor R9 and the resistor R11 are grounded, and the GND terminal of the interface P4 IS grounded;
the IN terminal and the INH terminal of the interface P5 are respectively connected with one end of a resistor R6 and one end of a resistor R8, the other end of the resistor R6 and the other end of the resistor R8 are respectively connected with the ATN2 terminal and the AEN terminal of the external chip U1, the OUT terminal of the interface P5 IS connected with the wind wheel control motor, the SR terminal and the IS terminal of the interface P5 are respectively connected with one end of a resistor R10 and one end of a resistor R12, and the other ends of the resistor R10 and the resistor R12 are grounded;
terminals 1A1, 1A2 and 1A3 of the chip U1 are respectively connected with terminals PB9, PB8 and PA12 of the micro-control chip, a terminal 1A3 of the chip U1 is grounded through a resistor R1, terminals 1Y1, 1Y2 and 1Y3 of the chip U1 are connected with a chip U3, and a ground terminal of the chip U1 is grounded;
the micro control chip is used for storing programs, receiving control instructions sent by the Bluetooth module and sending the control instructions to the motor driving module, and the speed control motor adjusts parameters when the balance car moves to ensure that the balance car keeps a balance state and keeps the balance state according to a motion track;
the motor driving module is used for receiving the control instruction sent by the micro-control chip and sending the control instruction to the speed control motor and the wind wheel motor, so that the wind wheel motor and the speed control motor are adjusted according to the adjustment parameters sent by the single chip microcomputer.
Preferably, the six-axis motion processing module includes a six-axis motion processing chip, terminals 23 and 24 of the six-axis motion processing chip are respectively connected to one end of resistors R18 and R19, the other ends of resistors R18 and R19 are grounded, terminal 12 of the six-axis motion processing chip is connected to terminal PB2 of the micro control chip, terminal 20 of the six-axis motion processing chip is connected to one end of capacitor C23, the other end of capacitor C23 is grounded, terminals 1 and 18 of the six-axis motion processing chip are both grounded, terminal 13 of the six-axis motion processing chip is connected to one end of C2, and the end is further connected to power supply 3.3V, the other end of C2 is grounded, terminal 10 of the six-axis motion processing chip is connected to one end of capacitor C2, the other end of capacitor C2 is grounded, terminal 9 of the six-axis motion processing chip is connected to one end of resistor R20, and the other end of resistor R20 is grounded, the 8-wire terminal of the six-axis motion processing chip is connected with one end of a capacitor C2, and the other end of the capacitor C2 is grounded.
Preferably, the Bluetooth module comprises a Blu eCore4-Ext chip, the P12 terminal of the Blu eCore4-Ext chip is connected with one end of a resistor R6, the other end of the resistor R6 is connected with the anode of a diode L2, the cathode of the diode L2 is grounded, the 1 and 2 terminals of the Blu eCore4-Ext chip are connected with the PB11 and PB10 terminals of the micro-control chip, the 12 terminal of the Blu eCore4-Ext chip is connected with one end of a capacitor C17, and the other end of the capacitor C17 is connected with the 13 terminal of the Blu eCore4-Ext chip.
Preferably, the clock circuit includes a capacitor C25 connected to the OSC _ IN terminal of the micro controller chip and one end of a crystal oscillator Y2, the other end of the capacitor C25 is grounded, the other end of the crystal oscillator Y2 is connected to the OSC _ OUT of the micro controller chip and is further connected to one end of the capacitor C26, and the other end of the capacitor C26 is grounded.
Preferably, the filter current stabilizing circuit comprises capacitors C21, C19, C18 and C20 connected to terminals 9, 24, 36 and 48 of the micro-control chip respectively, the other ends of the capacitors C21, C19, C18 and C20 are grounded, and terminals 9, 24, 36 and 48 of the micro-control chip are connected to a 3.3V power supply respectively.
Preferably, the reset circuit comprises a button S2 and a resistor R22 connected to the NRST of the micro control chip, and one end of a capacitor C27, the other end of the capacitor C27 and the other end of the button S4 are both grounded, and the other end of the resistor R22 is connected to a 3.3V power supply.
Preferably, the first and second liquid crystal materials are,
the voltage stabilizing module comprises a first voltage stabilizing circuit and a second voltage stabilizing circuit, wherein the first voltage stabilizing circuit comprises a chip IC1, the 3 and 5 terminals of the chip IC1 are grounded, the 1 terminal of the chip IC1 is connected with one ends of a capacitor C3, a capacitor C4 and a resistor R2, the other ends of the capacitor C3 and the capacitor C4 are grounded, the other end of a resistor R2 is connected with one end of a resistor R3 and one end of a capacitor C5, the other end of the resistor R3 is grounded, the other end of the capacitor C5 is grounded on one hand, the other end of the capacitor C5 is connected with the 2 terminal port of an interface P3 on the other hand, the 1 terminal port of the interface P3 is grounded, the 2 terminal of the chip IC1 is connected with the cathode of a diode D1 and one end of an inductor L, the anode of the diode D1 is grounded, the other end of the inductor L is connected with the 4 terminal of the chip IC1, the anode of a capacitor C59;
the second voltage stabilizing circuit comprises a chip U2, wherein a terminal 1 of the chip U2 is connected with a cathode of a diode D2, one end of a capacitor C8, one end of a capacitor C6 and 5V voltage, an anode of a diode D2, the other end of a capacitor C8 and the other end of a capacitor C6 are grounded, a terminal 3 of the chip U2 is grounded, a terminal 2 of a chip U2 is connected with one end of the capacitor C7, one end of a capacitor C9 and a cathode of the diode D3, the other end of the capacitor C7, the other end of the capacitor C9 and an anode of a diode D3 are grounded, a terminal 2 of the chip U2 provides power for the micro-control chip and the six-axis motion processing module, and a terminal 4 of the chip IC1 provides power for the motor control module.
The invention has the beneficial technical effects that:
the laser tracking balance car control circuit provided by the invention integrates the functions of wireless control, infrared tracking and balance operation, on the basis of balance operation, a Bluetooth module is added for control, then a motor drive control unit controls and adjusts parameters of a wind wheel motor and a speed control motor through two interfaces P4 and P5, and then a buffer circuit of a chip U1 receives an adjustment parameter signal sent by a micro control chip, so that the control of two motor parameters is realized through one control unit.
Drawings
Fig. 1 is a micro control chip and peripheral circuit diagram of a preferred embodiment of a control circuit of a laser tracking balance car according to the present invention.
Fig. 2 is a motor driving circuit diagram of a preferred embodiment of a control circuit of a laser tracking balance car according to the present invention.
Fig. 3 is a circuit diagram of a bluetooth module of a preferred embodiment of a control circuit of a laser tracking balance car according to the present invention.
Fig. 4 is a circuit diagram of a six-axis motion processing module of a preferred embodiment of a laser tracking balance car control circuit according to the present invention.
Fig. 5 is a circuit diagram of a voltage stabilizing module of a preferred embodiment of a control circuit of a laser tracking balance car according to the present invention.
Fig. 6 is a block diagram of a preferred embodiment of a laser tracking balance car control circuit according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-5, the present embodiment provides a control circuit for a laser tracking balance car,
the device comprises a six-axis motion processing module, a Bluetooth module, a motor driving module, a micro-control chip, a voltage stabilizing module and a vision module, wherein the PB8, the PB9 and the PB52 terminals of the micro-control chip are connected with the six-axis motion processing module through leads, the PB10 and the PB11 terminals of the micro-control chip are connected with leads of the Bluetooth module, the PB12PB9, PB13PB8, PB14PB6, PB15PB13, PA8B14, PB15, PA7, PA8 and PA121 terminals of the micro-control chip are connected with leads of the DC motor driving module, the micro-control chip comprises a clock circuit, a reset circuit and a filtering current stabilizing circuit which are connected with the micro-control chip, wherein the PD0OSC _ IN and the OSC _ PD1 terminals of the micro-control chip are connected with the leads of the clock circuit, the VDDSSA, VSS _2, VSS _1 and VSS _3 terminals of the micro-control chip are grounded, and external connection terminals A, OSC _2, VDD _1 and VDD _3 terminals of the micro-control chip are connected, the motor driving module comprises a motor driving control unit, an interface P4 and an interface P5, the motor driving control unit comprises a chip U3, terminals 1 and 2 of the chip U3 are connected with each other, terminals 3 and 4 of the chip U3 are connected with the ground, terminals 5 and 6 of the chip U3 are connected with each other, terminals 7 and 8 of the chip U3 are connected with the ground, terminals 9 and 10 of the chip U3 are connected with the ground, terminals 11 and 12 of the chip U3 are connected with each other, terminals 15, 16, 17, 21, 22 and 23 of the chip U3 are connected with terminals PB6, PB13, PB14, PB15, PA8 and PA7 of the micro-control chip, terminals 19 and 20 of the chip U3 are connected with a voltage stabilizing circuit, terminals 13 and 14 of the chip U3 are connected with terminals VS 4, a terminal VS 9, a terminal IN 56, an IN 56 and an INH 828653 are connected with a terminal GND of the interface P8653, the other ends of the resistors R5 and R7 are respectively externally connected with an ATN1 terminal and an AEN terminal of a chip U1, an OUT terminal of the interface P4 IS connected with the speed control motor, SR and IS terminals of the interface P4 are respectively connected with one ends of the resistor R9 and the resistor R11, the other ends of the resistor R9 and the resistor R11 are grounded, and a GND end of the interface P4 IS grounded;
the IN terminal and the INH terminal of the interface P5 are respectively connected with one end of a resistor R6 and one end of a resistor R8, the other end of the resistor R6 and the other end of the resistor R8 are respectively connected with the ATN2 terminal and the AEN terminal of the external chip U1, the OUT terminal of the interface P5 IS connected with the wind wheel control motor, the SR terminal and the IS terminal of the interface P5 are respectively connected with one end of a resistor R10 and one end of a resistor R12, and the other ends of the resistor R10 and the resistor R12 are grounded;
terminals 1A1, 1A2 and 1A3 of the chip U1 are respectively connected with terminals PB9, PB8 and PA12 of the micro-control chip, a terminal 1A3 of the chip U1 is grounded through a resistor R1, terminals 1Y1, 1Y2 and 1Y3 of the chip U1 are connected with a chip U3, and a ground terminal of the chip U1 is grounded;
the micro control chip is used for storing programs, receiving control instructions sent by the Bluetooth module and sending the control instructions to the motor driving module, and the speed control motor adjusts parameters when the balance car moves to ensure that the balance car keeps a balance state and keeps the balance state according to a motion track;
the motor driving module is used for receiving the control instruction sent by the micro-control chip and sending the control instruction to the speed control motor and the wind wheel motor, so that the wind wheel motor and the speed control motor are adjusted according to the adjustment parameters sent by the single chip microcomputer.
In this embodiment, the six-axis motion processing module includes a six-axis motion processing chip, terminals 23 and 24 of the six-axis motion processing chip are respectively connected to one ends of resistors R18 and R19, the other ends of resistors R18 and R19 are grounded, terminal 12 of the six-axis motion processing chip is connected to terminal PB2 of the micro control chip, terminal 20 of the six-axis motion processing chip is connected to one end of capacitor C23, the other end of capacitor C23 is grounded, terminals 1 and 18 of the six-axis motion processing chip are both grounded, terminal 13 of the six-axis motion processing chip is connected to one end of C2, and the end is further connected to power supply 3.3V, the other end of C2 is grounded, terminal 10 of the six-axis motion processing chip is connected to one end of capacitor C2, the other end of capacitor C2 is grounded, terminal 9 of the six-axis motion processing chip is connected to one end of resistor R20, and the other end of resistor R20 is grounded, the 8-wire terminal of the six-axis motion processing chip is connected with one end of a capacitor C2, and the other end of the capacitor C2 is grounded.
In the above, the six-axis motion processing chip adopts an MPU6050 model, and the chip collects and processes the attitude angle and the speed of the balance car and then sends the attitude angle and the speed to the wiring terminal of the single chip microcomputer PB2 through the 12 wiring terminal.
In this embodiment, the bluetooth module comprises a Blu eCore4-Ext chip, wherein the P12 terminal of the Blu eCore4-Ext chip is connected with one end of a resistor R6, the other end of the resistor R6 is connected with the anode of a diode L2, the cathode of the diode L2 is grounded, the 1 and 2 terminals of the Blu eCore4-Ext chip are connected with the PB11 and PB10 terminals of the micro-control chip, the 12 terminal of the Blu eCore4-Ext chip is connected with one end of a capacitor C17, and the other end of the capacitor C17 is connected with the 13 terminal of the blue eCore4-Ext chip.
Above, can link to each other with the singlechip through bluetooth module by external control equipment.
IN this embodiment, the clock circuit includes a capacitor C25 connected to the OSC _ IN terminal of the micro controller chip and one end of a crystal oscillator Y2, the other end of the capacitor C25 is grounded, the other end of the crystal oscillator Y2 is connected to the OSC _ OUT of the micro controller chip and is also connected to one end of the capacitor C26, and the other end of the capacitor C26 is grounded.
In the above, the clock circuit generates the clock signal through the crystal oscillator Y2, and provides the clock signal to the micro controller chip after being filtered by the capacitor C25 and the capacitor C26.
In this embodiment, the filter current stabilizing circuit includes capacitors C21, C19, C18, and C20 connected to terminals 9, 24, 36, and 48 of the micro-control chip, respectively, the other ends of the capacitors C21, C19, C18, and C20 are grounded, and terminals 9, 24, 36, and 48 of the micro-control chip are connected to a 3.3V power supply, respectively.
In the method, the input power supply of the micro-control chip is filtered through the capacitor, so that the stability and reliability of the input voltage are ensured.
In this embodiment, the reset circuit includes a button S2 and a resistor R22 connected to the NRST of the micro controller chip, and one end of a capacitor C27, the other end of the capacitor C27 and the other end of the button S4 are both grounded, and the other end of the resistor R22 is connected to a 3.3V power supply.
In the above, the reset process is performed by grounding the NRST terminal through the button S4.
In this embodiment, the voltage stabilizing module includes a first voltage stabilizing circuit and a second voltage stabilizing circuit, the first voltage stabilizing circuit includes a chip IC1, terminals 3 and 5 of the chip IC1 are grounded, a terminal 1 of the chip IC1 is connected with one ends of a capacitor C3, a capacitor C4 and a resistor R2, the other ends of the capacitor C3 and the capacitor C4 are grounded, the other end of the resistor R2 is connected with one end of a resistor R3 and one end of a capacitor C5, the other end of the resistor R3 is grounded, the other end of the capacitor C5 is grounded on one hand, and is connected with a terminal 2 of an interface P3 on the other hand, the terminal 1 of the interface P3 is grounded, the terminal 2 of the chip IC1 is connected with a cathode of a diode D1 and one end of an inductor L, an anode of the diode D1 is grounded, the other end of the inductor L is connected with a terminal 4 of the chip IC1, an anode of a capacitor C1 and one end of a capacitor C2;
the second voltage stabilizing circuit comprises a chip U2, wherein a terminal 1 of the chip U2 is connected with a cathode of a diode D2, one end of a capacitor C8, one end of a capacitor C6 and 5V voltage, an anode of a diode D2, the other end of a capacitor C8 and the other end of a capacitor C6 are grounded, a terminal 3 of the chip U2 is grounded, a terminal 2 of a chip U2 is connected with one end of the capacitor C7, one end of a capacitor C9 and a cathode of the diode D3, the other end of the capacitor C7, the other end of the capacitor C9 and an anode of a diode D3 are grounded, a terminal 2 of the chip U2 provides power for the micro-control chip and the six-axis motion processing module, and a terminal 4 of the chip IC1 provides power for the motor control module.
In the above, a 12V power supply is externally connected through an interface P3 of the first voltage stabilizing circuit, then a filter circuit formed by capacitors C3 and C4, resistors R2 and resistors R3 is used for filtering, then the filtered voltage is input into a chip IC1, then 5V voltage is input, the filtered voltage is output through capacitors and inductors, a 5V power supply is connected through a1 wire of the second voltage stabilizing voltage, the filtered voltage is input into a chip U2, and then 3.3V voltage is output, wherein the chip U2 is an existing chip.
In this embodiment, the vision acquisition module is an OpenMV camera. Which are connected to the PB10 and PB11 terminals of the micro-controller chip.
The balance car control method corresponding to the invention comprises the following steps:
step 1: receiving user operation through a mobile terminal;
step 2: sending a control instruction to the Bluetooth module through the mobile terminal;
and step 3: sending the control information to a micro-control chip through a Bluetooth module;
and 4, step 4: the vision module collects laser signals, generates a motion track and sends the motion track to the micro-control chip;
and 5: the micro-control chip detects whether the balance car is in a static state, if so, the six-axis processing module obtains the attitude angle deviation of the balance car, and then the wind wheel adjustment parameters are determined according to the PI algorithm so that the balance car is in a balance state; if not, the space data of the vehicle body posture of the balance vehicle is obtained through the six-axis processing module, and then the speed control motor adjustment parameters are determined according to the PID algorithm so that the balance vehicle is in a balance state and moves according to the motion track.
Wherein, confirm wind wheel adjustment parameter according to PI algorithm and make the balance car specifically include in balanced state: the six-axis processing module acquires attitude angles and speed information of the balance car, then differentiates the attitude angles to obtain attitude angular speeds, integrates the speed information to obtain speed values, and then obtains the speed values according to a formula
Obtaining wind wheel adjusting parameters a, wherein k, p and d are angle adjusting parameters,
and
in order to adjust the parameters for the speed,is the speed information, B is the attitude angle,
is the attitude angular velocity;
and adjusting a voltage value required by the instantaneous rotation of the motor of the wind wheel according to the determined wind wheel adjustment parameters, wherein the motor of the wind wheel drives the wind wheel to accelerate under the instantaneous acceleration to generate centrifugal acceleration to apply force to the trolley in the opposite direction so as to enable the balance trolley to be in a balanced state.
Wherein, determining the adjustment parameters of the direct current motor driving module according to the PID algorithm in the step 5 to enable the balance car to be in a balance state specifically comprises the following steps:
51: the proportional parameter is equivalent to the restoring force of the balance car when falling, the parameter is larger than the gravity acceleration, when the proportional parameter is gradually increased, the balance car can be kept upright, the differential parameter is equivalent to the damping force, and the differential parameter is adjusted to restrain the swing of the car model;
52: the two parameters of the proportional parameter P and the differential parameter D are adjusted according to the sequence of first proportion and then differential, the proportional parameter is adjusted firstly so that the tracking balance car can keep upright and start to swing back and forth, then the differential parameter is increased step by step, the tracking balance car is stable upright step by step, the differential parameter is further increased until the two-wheeled self-balancing car starts to resonate, and the maximum value of the differential parameter is determined;
53. and reducing the differential parameter, gradually increasing the proportional parameter until the balance car begins to oscillate again, determining the maximum value of the proportional parameter, and finally outputting the motor speed adjustment parameter value of the direct current motor module according to the adjusted proportional parameter and the differential parameter.
In conclusion, the integrated wireless control, infrared tracking and balanced operation functions are integrated, on the basis of balanced operation, a Bluetooth module is added for control, then the wind wheel motor and the speed control motor are controlled and adjusted through the two interfaces P4 and P5 by the motor driving control unit, then the adjustment parameter signals sent by the micro control chip are received by the buffer circuit of the chip U1, control of two motor parameters is achieved through one control unit, the circuit structure is simple, the balance state can be kept when the wind wheel motor is static by controlling the adjustment parameters of the wind wheel motor and the speed control motor, and meanwhile, the balance state is kept when the speed control motor is moved by controlling the speed control motor.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (7)
1. The utility model provides a balanced car control circuit is tracked to laser which characterized in that: comprises six shafts
The power supply comprises a dynamic processing module, a Bluetooth module, a motor driving module, a micro-control chip, a voltage stabilizing module and a vision module, wherein PB8, PB9 and PB52 terminals of the micro-control chip are connected with six-axis dynamic processing module leads, PB10 and PB11 terminals of the micro-control chip are connected with the Bluetooth module leads, PB12PB9, PB13PB8, PB14PB6, PB15PB13, PA8B14, PB15, PA7, PA8 and PA121 terminals of the micro-control chip are connected with the direct current motor driving module leads, the micro-control chip comprises a clock circuit and a reset circuit connected with the micro-control chip and a filter current stabilizing circuit, wherein PD0OSC _ IN and OSC _ OUTPD1 terminals of the micro-control chip are connected with the clock circuit leads, VDDSSA, VSS _2, VSS _1 and VSS _3 ground terminals of the micro-control chip, VDDSCA, VDD _1, VDD _3 and VDD _3 terminals of the micro-control chip are connected with external connection leads and the filter current stabilizing module, the motor driving module comprises a motor driving control unit, an interface P4 and an interface P5, the motor driving control unit comprises a chip U3, terminals 1 and 2 of the chip U3 are connected, terminals 3 and 4 of the chip U3 are connected and grounded, terminals 5 and 6 of the chip U3 are connected, terminals 7 and 8 of the chip U3 are connected, terminals 9 and 10 of the chip U3 are connected and grounded, terminals 11 and 12 of the chip U3 are connected, terminals 15, 16, 17, 21, 22 and 23 of the chip U3 are connected with terminals PB6, PB13, PB14, PB15, PA8 and PA7 of the micro control chip respectively, terminals 19 and 20 of the chip U3 are connected and connected with a voltage stabilizing circuit, terminals 13 and 14 of the chip U3 are connected with terminals VS 68628 of the interface P4, terminals VS 5 of the interface P9, terminals ground of the interface P2, terminals IN and INH 4 of the interface P are connected with resistors R8653 and GND 8653 of the interface P8427, the other ends of the resistors R5 and R7 are respectively externally connected with an ATN1 terminal and an AEN terminal of a chip U1, an OUT terminal of the interface P4 IS connected with the speed control motor, SR and IS terminals of the interface P4 are respectively connected with one ends of the resistor R9 and the resistor R11, the other ends of the resistor R9 and the resistor R11 are grounded, and a GND end of the interface P4 IS grounded;
the IN terminal and the INH terminal of the interface P5 are respectively connected with one end of a resistor R6 and one end of a resistor R8, the other end of the resistor R6 and the other end of the resistor R8 are respectively connected with the ATN2 terminal and the AEN terminal of the external chip U1, the OUT terminal of the interface P5 IS connected with the wind wheel control motor, the SR terminal and the IS terminal of the interface P5 are respectively connected with one end of a resistor R10 and one end of a resistor R12, and the other ends of the resistor R10 and the resistor R12 are grounded;
terminals 1A1, 1A2 and 1A3 of the chip U1 are respectively connected with terminals PB9, PB8 and PA12 of the micro-control chip, a terminal 1A3 of the chip U1 is grounded through a resistor R1, terminals 1Y1, 1Y2 and 1Y3 of the chip U1 are connected with a chip U3, and a ground terminal of the chip U1 is grounded;
the micro control chip is used for storing programs, receiving control instructions sent by the Bluetooth module and sending the control instructions to the motor driving module, and the speed control motor adjusts parameters when the balance car moves to ensure that the balance car keeps a balance state and keeps the balance state according to a motion track;
the motor driving module is used for receiving the control instruction sent by the micro-control chip and sending the control instruction to the speed control motor and the wind wheel motor, so that the wind wheel motor and the speed control motor are adjusted according to the adjustment parameters sent by the single chip microcomputer.
2. The laser tracking balance car control circuit according to claim 1, wherein: six-axis motion processing module includes six-axis motion processing chip, the one end of resistance R18, R19 is connected respectively to the 23, 24 wiring end of six-axis motion processing chip, resistance R18, R19's other end ground connection, six-axis motion processing chip's 12 wiring end with the PB2 wiring end of micro-control chip is connected, the one end of 20 wiring termination electric capacity C23 of six-axis motion processing chip, electric capacity C23's other end ground connection, the 1 and 18 wiring end of six-axis motion processing chip all ground connection, the one end of 13 wiring termination C2 of six-axis motion processing chip, and this end still connect power 3.3V, C2's other end ground connection, the one end of 10 wiring termination electric capacity C2 of six-axis motion processing chip, the other end ground connection of electric capacity C2, the one end of 9 wiring termination electric capacity R20 of six-axis motion processing chip, the other end ground connection of resistance R20, the 8-wire terminal of the six-axis motion processing chip is connected with one end of a capacitor C2, and the other end of the capacitor C2 is grounded.
3. The laser tracking balance car control circuit according to claim 1, wherein: the Bluetooth module comprises a Blu eCore4-Ext chip, wherein the P12 of the Blu eCore4-Ext chip is connected with one end of a resistor R6, the other end of the resistor R6 is connected with the anode of a diode L2, the cathode of the diode L2 is grounded, the 1 and 2 terminals of the Blu eCore4-Ext chip are connected with the PB11 and PB10 terminals of the micro-control chip, the 12 terminal of the Blu eCore4-Ext chip is connected with one end of a capacitor C17, and the other end of the capacitor C17 is connected with the 13 terminal of the Blu eCore4-Ext chip.
4. The laser tracking balance car control circuit according to claim 1, wherein: the clock circuit comprises a capacitor C25 connected with an OSC _ IN terminal of the micro-control chip and one end of a crystal oscillator Y2, the other end of the capacitor C25 is grounded, the other end of the crystal oscillator Y2 is connected with OSC _ OUT of the micro-control chip and is also connected with one end of the capacitor C26, and the other end of the capacitor C26 is grounded.
5. The laser tracking balance car control circuit according to claim 1, wherein: the filter current stabilizing circuit comprises capacitors C21, C19, C18 and C20 which are respectively connected with terminals 9, 24, 36 and 48 of the micro-control chip, the other ends of the capacitors C21, C19, C18 and C20 are grounded, and terminals 9, 24, 36 and 48 of the micro-control chip are respectively connected with a 3.3V power supply.
6. The laser tracking balance car control circuit according to claim 1, wherein: the reset circuit comprises a button S2 connected with the NRST of the micro-control chip, a resistor R22 and one end of a capacitor C27, the other end of the capacitor C27 and the other end of the button S4 are both grounded, and the other end of the resistor R22 is connected with a 3.3V power supply.
7. The laser tracking balance car control circuit according to claim 1, wherein: the voltage stabilizing module comprises a first voltage stabilizing circuit and a second voltage stabilizing circuit, wherein the first voltage stabilizing circuit comprises a chip IC1, the 3 and 5 terminals of the chip IC1 are grounded, the 1 terminal of the chip IC1 is connected with one ends of a capacitor C3, a capacitor C4 and a resistor R2, the other ends of the capacitor C3 and the capacitor C4 are grounded, the other end of a resistor R2 is connected with one end of a resistor R3 and one end of a capacitor C5, the other end of the resistor R3 is grounded, the other end of the capacitor C5 is grounded on one hand, the other end of the capacitor C5 is connected with the 2 terminal port of an interface P3 on the other hand, the 1 terminal port of the interface P3 is grounded, the 2 terminal of the chip IC1 is connected with the cathode of a diode D1 and one end of an inductor L, the anode of the diode D1 is grounded, the other end of the inductor L is connected with the 4 terminal of the chip IC1, the anode of a capacitor C59;
the second voltage stabilizing circuit comprises a chip U2, wherein a terminal 1 of the chip U2 is connected with a cathode of a diode D2, one end of a capacitor C8, one end of a capacitor C6 and 5V voltage, an anode of a diode D2, the other end of a capacitor C8 and the other end of a capacitor C6 are grounded, a terminal 3 of the chip U2 is grounded, a terminal 2 of a chip U2 is connected with one end of the capacitor C7, one end of a capacitor C9 and a cathode of the diode D3, the other end of the capacitor C7, the other end of the capacitor C9 and an anode of a diode D3 are grounded, a terminal 2 of the chip U2 provides power for the micro-control chip and the six-axis motion processing module, and a terminal 4 of the chip IC1 provides power for the motor control module.
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| CN201911288252.8A CN110764524A (en) | 2019-12-16 | 2019-12-16 | Laser tracking balance car control circuit |
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| CN201911288252.8A CN110764524A (en) | 2019-12-16 | 2019-12-16 | Laser tracking balance car control circuit |
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| WO2021120739A1 (en) * | 2019-12-16 | 2021-06-24 | 华南理工大学广州学院 | Laser tracking self-balancing scooter control method |
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