CN115402116A - Labyrinth intelligent vehicle based on speed measurement of external magnetic suspension encoder of motor - Google Patents
Labyrinth intelligent vehicle based on speed measurement of external magnetic suspension encoder of motor Download PDFInfo
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- CN115402116A CN115402116A CN202211178980.5A CN202211178980A CN115402116A CN 115402116 A CN115402116 A CN 115402116A CN 202211178980 A CN202211178980 A CN 202211178980A CN 115402116 A CN115402116 A CN 115402116A
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- 239000000725 suspension Substances 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000012937 correction Methods 0.000 claims 5
- 238000012423 maintenance Methods 0.000 claims 1
- 239000000126 substance Substances 0.000 claims 1
- 238000011160 research Methods 0.000 abstract description 2
- 210000003027 ear inner Anatomy 0.000 description 20
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a labyrinth intelligent vehicle based on motor external magnetic suspension encoder speed measurement, which is characterized in that wall information is obtained in a labyrinth, an optimal path is searched to reach a destination, a main control chip of the intelligent vehicle is STM32F103, wall information of the labyrinth is detected through 4 groups of receiving and sending infrared sensors, a left direct current motor and a right direct current motor are controlled to turn and advance, obstacles are avoided, the intelligent vehicle can quickly and accurately reach a set position, a core controller 2 is connected to a PCB circuit chassis 1 and is connected to motors, infrared sensors, gyroscopes and the like on the left side and the right side through a PCB circuit chassis 1, a Bluetooth assembly 5 is inserted on the PCB circuit chassis 1 and is responsible for transmitting the position, the speed and other information of the intelligent vehicle to an upper computer in real time, and the running track of the labyrinth intelligent vehicle can be changed by receiving an instruction sent by the upper computer. The intelligent vehicle is a good platform for students to learn and develop the intelligent vehicle, and has good application and research values.
Description
Technical Field
The invention belongs to the field of intelligent vehicles, and particularly relates to a labyrinth intelligent vehicle which realizes control in a speed measuring mode of an external magnetic suspension encoder of a motor.
Background
Along with the improvement of science and technology, the intelligent vehicle participates in human life more, the labyrinth intelligent vehicle is used as a novel product of the intelligent vehicle, the application and research value of the intelligent vehicle is increasingly popular in the world, the requirements on the rapidity and the flexibility are higher, the motor speed measuring mode of the traditional intelligent vehicle mostly adopts a Hall encoder and a motor to rotate together, but for the labyrinth environment, the motor of the intelligent vehicle runs at a small speed, the design cost of an integrated high-precision encoder is higher, and the actual design is more complex, so that the simple and convenient realization is particularly important for the speed measurement of the high-speed rotating motor in the labyrinth.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the intelligent maze vehicle based on the speed measurement of the magnetic suspension encoder arranged outside the motor.
In order to achieve the purpose, the invention adopts the following technical scheme.
The utility model provides a labyrinth intelligence car based on external magnetic suspension encoder of motor tests speed, includes PCB circuit chassis 1, core control ware 2, encoder speed detection circuit, power voltage stabilizing circuit module, gyroscope angle control module, motor drive module, infrared sensor module, bluetooth host computer communication module.
The voltage of the core controller 2, the infrared transmitting assembly 7, the infrared receiving assembly 8, the Bluetooth communication assembly 5, the gyroscope module 9 and the magnetic sensor assembly 4 is supplied by the power supply voltage stabilizing module, so that the voltage is ensured to be constant.
The gyroscope angle control module is inserted on the PCB circuit chassis 1 through the pin header, is supplied with voltage by a 5v power supply, and communicates with the main controller through the simulated IIC interface to acquire the rotation angle of the intelligent vehicle and control the turning of the intelligent vehicle.
The left mechanical frame 12 and the right magnetic sensor assembly 9 are vertically fixed on the PCB circuit chassis 1, and the connection relationship between the right motor assembly and the left magnetic sensor assembly is the same.
The right rotary magnet 3 is mounted on the wheel 11 and rotates together with the wheel 4, the horizontal section of the right rotary magnet 3 is parallel to the left magnetic sensor assembly 4 and is mounted according to a set distance, and the connection relationship between the left rotary magnet and the magnetic sensor assembly is the same as that between the right rotary magnet and the left rotary magnet.
Drawings
FIG. 1 is a schematic perspective view of the external structure of the present invention;
FIG. 2 is a block diagram of the circuit control of the present invention;
FIG. 3 is a flowchart of the overall tasks performed by the present invention;
FIG. 4 is a view of the driving state of the present invention in the maze;
FIG. 5 is a block diagram of the speed control closed loop of the present invention;
FIG. 6 is a schematic view of the turning action of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example 1:
please refer to fig. 1 and 2, a labyrinth intelligent car mechanical structure and control system based on speed measurement of an external magnetic suspension encoder of a motor includes a PCB circuit chassis 1, a main controller 2, a left side motor 6 and a right side motor, a wheel 11, an infrared emission assembly 6, an infrared receiving assembly 7, a left side mechanical frame 12 and a right side mechanical frame, a right side rotary magnet 3 and a left side rotary magnet, a right side magnetic sensor assembly 4 and a left side magnetic sensor assembly, a bluetooth communication assembly 5, and a gyroscope sensor assembly 9. The utility model provides a labyrinth intelligence car based on speed is measured to external magnetic suspension encoder of motor, core controller 2 connects on PCB circuit chassis 1, and be connected to the left and right sides motor through PCB circuit chassis 1, infrared sensor, the gyroscope etc., carry out accurate position and speed control to the intelligent car, left side machinery frame 12 is fixed on PCB circuit chassis 1, right side and left side symmetry, bluetooth subassembly 5 is inserted on PCB circuit chassis 1, be responsible for monitoring the travel state of intelligent car, real-time to the position of host computer transmission intelligent car, speed and other information, also can change the orbit of labyrinth intelligence car through the instruction of accepting host computer to send. The intelligent vehicle is characterized in that the infrared transmitting assembly 8 and the infrared receiving assembly 7 are installed on the PCB circuit chassis 1, whether a wall exists can be detected, in addition, the intelligent vehicle is corrected in the posture in the advancing process of the intelligent vehicle, the intelligent vehicle is enabled to run at the middle position of a maze, four wheels are respectively installed on the left mechanical frame 12 and the right mechanical frame, the left motor assembly 6 is installed on the left mechanical frame 12 through screws, the right side and the left side are symmetrically installed to control the advancing of the intelligent vehicle, the rotating magnet assembly 3 is fixed on the wheels 11 and rotates together with the wheels, the magnetic sensor assembly 4 is fixed on the PCB circuit chassis 1, the magnetic sensor assembly is fixed, is vertically placed with the rotating magnets and is fixed in distance, the magnet assembly rotates together with the wheels, and generates a giant magnetoresistance effect with the magnetic sensor assembly to acquire the running speed of the motor.
Example 2:
referring to fig. 3, a working process of a labyrinth intelligent vehicle based on speed measurement of an external magnetic suspension encoder of a motor includes initializing a running port of a main controller, pressing a start button by an operator, waiting for delay of several seconds, starting the motor, starting the intelligent vehicle to advance, searching a whole labyrinth map, recording information of each searched labyrinth wall, sending data to an upper computer in real time through bluetooth until a labyrinth end point coordinate is reached, starting the intelligent vehicle to return to a starting point for sprint, obtaining an optimal path leading to the end point through the recorded labyrinth wall information, rushing to the end point at the fastest speed, returning to the starting point again, and completing a labyrinth task.
Example 3:
referring to fig. 4, a driving state of a labyrinth intelligent vehicle based on speed measurement by an external magnetic suspension encoder of a motor is as follows: wall information through four infrared transceiver sensor subassemblies detection every check labyrinths, confirm whether have the way, through the infrared wall information that comes detection the place ahead of left side place ahead and the infrared wall information that comes detection the place ahead of right side front, through the infrared information that detects the left side wall in left side, the infrared information that detects the right wall in right side, it is rotatory with right motor element through controller drive left motor, and the intelligent vehicle traveles forward.
Example 4:
magnetic encoder speed detection: in the process of forward travel of the intelligent vehicle, the wheels 4 drive the left rotary magnet assembly 81 and the right rotary magnet assembly 82 to synchronously rotate, the left rotary magnet assembly 81 and the right rotary magnet assembly 82 respectively generate a magnetic damping effect with the left magnetic sensor assembly 91 and the right magnetic sensor assembly 92 to generate pulse signals, and the main controller 2 receives the pulse signals through a timer capturing function to form feedback speed.
Example 5:
referring to fig. 5, a control method of a labyrinth intelligent vehicle based on speed measurement by an external magnetic suspension encoder of a motor: the speed of the intelligent vehicle is calculated according to the linear speed and the angular speed which are fed back, so that a linear speed error and a rotating speed error are obtained, PI control is respectively carried out according to the two deviation signals so that corresponding control signals are obtained, and finally the control signals are converted into PWM waves through a motor driver to control the two motors. By adopting the control mode to control the motors, only one straight-moving speed and one rotating speed are required to be given, and the two motors can be controlled.
Example 6:
referring to fig. 6, a turning implementation of a labyrinth intelligent vehicle based on speed measurement by an external magnetic suspension encoder of a motor is as follows: the relative left or right direction that detects the intelligent vehicle current position through infrared sensor subassembly 6 has a way, and left motor element 31 of controller drive and right motor element 32, a motor accelerate, and a motor decelerates and forms the speed difference, and then control the left side and turn right.
Example 7:
intelligent car and host computer communication: the intelligent vehicle can generate feedback speed in real time in the process of searching the destination, and the linear speed or the angular speed of the intelligent vehicle in the process of advancing can be fed back to the upper computer in real time through the Bluetooth communication assembly 10 and received by the upper computer to form a real-time speed curve and detect the running state of the intelligent vehicle. Simultaneously, the host computer can send the instruction to intelligent car, changes the target point of intelligent car in the maze.
Claims (5)
1. The utility model provides a labyrinth intelligence car based on external magnetic suspension encoder of motor tests speed, includes PCB circuit chassis, core controller, encoder speed detection circuitry, power voltage stabilizing circuit module, gyroscope angle control module, motor drive module, infrared sensor module, bluetooth host computer communication module. Wherein the content of the first and second substances,
the PCB circuit chassis is used for connecting the core controller, the infrared sensor module, the encoder speed detection circuit and the Bluetooth upper computer communication module.
2. The labyrinth intelligent vehicle based on the speed measurement of the external magnetic suspension encoder of the motor as claimed in claim 1,
the gyroscope subassembly is nine digital gyroscopes, can direct output angle volume, and the communication mode of core controller be IIC communication, can reach main control chip with the data volume fast, the turn angle degree of accurate control intelligent car to adopt the plug-in, directly insert on PCB circuit board with the row needle, can conveniently carry out the maintenance and the change of gyroscope at any time.
3. The labyrinth intelligent vehicle based on the speed measurement of the external magnetic suspension encoder of the motor as claimed in claim 1,
the right rotary magnet 3 is mounted on the wheel 11 and rotates together with the wheel 4, the horizontal section of the right rotary magnet 3 is parallel to the left magnetic sensor assembly 4 and is mounted according to a set distance, and the connection relationship between the left rotary magnet and the magnetic sensor assembly is the same as that between the right rotary magnet and the left rotary magnet.
4. The labyrinth intelligent vehicle based on the speed measurement of the external magnetic suspension encoder of the motor as claimed in claim 1,
the speed control mode of the motion control module of the intelligent vehicle adopts crossed double closed loop PID control, positive feedback of linear speed and angular speed is applied to the left motor, negative feedback of the linear speed and the angular speed is applied to the left motor, the linear speed adopts the sum of the left wheel speed and the right wheel speed divided by 2, the angular speed adopts the speed of the left wheel minus the speed of the right wheel divided by 2, the set value of the speed minus the feedback quantity of the encoder, and the error is subjected to PID control.
5. The labyrinth intelligent vehicle based on the speed measurement of the external magnetic suspension encoder of the motor as claimed in claim 1,
the posture correction mode of intelligence car adopts infrared correction and the correction mode that combines together of gyroscope, and when the intelligence car was located the position that the center of maze leaned on the left, adopt infrared correction, when the intelligent car marchd the in-process angle and take place the skew, adopt the correction mode of gyroscope, carry out PID to the error and revise, prevent that the error from too hitting the wall greatly, make the intelligent car keep all the time to go at the maze intermediate position and advance with the parallel state of the wall on both sides.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211178980.5A CN115402116A (en) | 2022-09-28 | 2022-09-28 | Labyrinth intelligent vehicle based on speed measurement of external magnetic suspension encoder of motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211178980.5A CN115402116A (en) | 2022-09-28 | 2022-09-28 | Labyrinth intelligent vehicle based on speed measurement of external magnetic suspension encoder of motor |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204086988U (en) * | 2014-09-05 | 2015-01-07 | 西安建筑科技大学 | A kind of labyrinth machine mouse system resolved for labyrinth |
| CN106873603A (en) * | 2017-04-17 | 2017-06-20 | 成都信息工程大学 | Computer mouse intelligence vehicle control and control method based on Zynq platforms |
| CN108388177A (en) * | 2018-02-27 | 2018-08-10 | 南开大学 | A kind of half-size scale computer mouse kinetic control system |
| KR20200121393A (en) * | 2019-04-09 | 2020-10-26 | 주식회사 실크로드 | Driving direction moving device capable of autonomous driving of a camper |
| CN113721628A (en) * | 2021-09-03 | 2021-11-30 | 天津工业大学 | Maze robot path planning method fusing image processing |
| CN113799171A (en) * | 2020-06-16 | 2021-12-17 | 天津工业大学 | Magnetic encoder labyrinth robot |
-
2022
- 2022-09-28 CN CN202211178980.5A patent/CN115402116A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204086988U (en) * | 2014-09-05 | 2015-01-07 | 西安建筑科技大学 | A kind of labyrinth machine mouse system resolved for labyrinth |
| CN106873603A (en) * | 2017-04-17 | 2017-06-20 | 成都信息工程大学 | Computer mouse intelligence vehicle control and control method based on Zynq platforms |
| CN108388177A (en) * | 2018-02-27 | 2018-08-10 | 南开大学 | A kind of half-size scale computer mouse kinetic control system |
| KR20200121393A (en) * | 2019-04-09 | 2020-10-26 | 주식회사 실크로드 | Driving direction moving device capable of autonomous driving of a camper |
| CN113799171A (en) * | 2020-06-16 | 2021-12-17 | 天津工业大学 | Magnetic encoder labyrinth robot |
| CN113721628A (en) * | 2021-09-03 | 2021-11-30 | 天津工业大学 | Maze robot path planning method fusing image processing |
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