CN205034249U - Active change focus balance car - Google Patents
Active change focus balance car Download PDFInfo
- Publication number
- CN205034249U CN205034249U CN201520709302.6U CN201520709302U CN205034249U CN 205034249 U CN205034249 U CN 205034249U CN 201520709302 U CN201520709302 U CN 201520709302U CN 205034249 U CN205034249 U CN 205034249U
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- balance car
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Abstract
The utility model discloses an active change focus balance car, including the automobile body, bottom of the car body is connected with chassis axle, and the chassis axle both ends are connected with a wheel separately, install angle sensor on the wheel, and the last angular speed encoder of still installing of chassis axle, angular speed encoder are connected to the main control chip of installation on the automobile body again, main control chip respectively with the driver with angle sensor connects, the driver is connected with the motor on wheel next door again, the utility model provides a balance car focus that exists among the prior art can not change and the change along with external condition, control is simple redirecting's problem.
Description
Technical field
The utility model belongs to machinery and control technology field, is specifically related to a kind of active variable gravity balance car.
Background technology
Balance truck is a kind of more common motion carrier, modal in market is exactly mannedly stroll car, mainly a kind of instrument of amusement and recreation, such balance truck utilizes the signal of the output of sensor to carry out Self homeostasis adjustment to be affected very large by sensor and state of kinematic motion, be difficult to larger development on this basis.
In industry, service sector and the special industry balance truck that some are more dangerous have very strong alerting ability controllability, but the aspect that existing balance truck is only parked in leisure is difficult to meet the demands.
Common balance truck mainly utilizes angular transducer, acceleration pick-up, and velocity measurement sensor etc. and motor export and carry out feedback regulation and reach balance.
It is certain to there is structure in existing balance truck, after just utilizing angular transducer to measure drift angle, directly changes speed, thus makes equipment dangerous especially.
Utility model content
The purpose of this utility model is to provide a kind of active variable gravity balance car, and solving the balance truck center of gravity existed in prior art can not change with change of external conditions, controls just to change merely nyctitropic problem.
The technical scheme that the utility model adopts is, a kind of active variable gravity balance car, comprise car body, vehicle bottom is connected with chassis axle, and chassis axle two ends are connected with a wheel separately, and wheel is provided with angular transducer, chassis axle is also provided with cireular frequency coder, cireular frequency coder is connected to again the main control chip that car body is installed, and main control chip is connected with actuator and described angular transducer respectively, and described actuator is connected with the motor on wheel side again.
Feature of the present utility model is also,
Drive model is L298N.
Main control chip model is STM32F103ZET6.
Angular transducer model is DWQL-V-360.
The beneficial effects of the utility model are, utilize angular transducer image data, signal carries out encoding and then passes data to main control chip by cireular frequency coder, main control chip carries out different combinations to the balance parameters under various different conditions, build a data bank, carry out PID adjustment, utilize the large data-driven actuator of data bank, actuator and then drive motor band motor car wheel change rotation direction, and car is carried out active balancing.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of active variable gravity balance of the utility model car.
In figure, 1. wheel, 2. cireular frequency coder, 3. chassis axle, 4. actuator, 5. main control chip, 6. angular transducer, 7. motor, 8. car body.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
A kind of active variable gravity balance of the utility model car, structure as shown in Figure 1, comprise car body 8, chassis axle 3 is connected with bottom car body 8, chassis axle 3 two ends are connected with a wheel 1 separately, wheel 1 is provided with angular transducer 6, chassis axle 3 is also provided with cireular frequency coder 2, cireular frequency coder 2 is connected to again the main control chip 5 that car body 8 is installed, main control chip 5 is connected with actuator 4 and described angular transducer 6 respectively, described actuator 4 is connected with the motor 7 on wheel 1 side again, wherein, actuator 4 model is L298N, main control chip 5 model is STM32F103ZET6, angular transducer 6 model is DWQL-V-360.
A kind of active variable gravity balance of the utility model car, that the balance control system of balance truck is transformed, when original hardware is constant, carry out great many of experiments and analogue simulation, improve stability and the adaptive capacity of balance truck, and with this basis can on carry out the installation and checkout of a series of module, Matlab is utilized to carry out emulation experiment, gravity center shift and parameter are set up function model by founding mathematical models, put into practice in debug process and parameter corresponding for gravity center shift is carried out record, set up a parameter library, test through mass data, parameter automatically can change while gravity center shift, angular transducer is revised, deduct the feedback regulation link of angular transducer, shorten the equilibrium response time, also varying environment can be increased during emulation, the change of center of gravity in different additional equipment situation, improve the stability in certain situation, balance truck mainly ensures adjustment and the balance of center of gravity, and the application mainly shortens the time that unstable state adjusts to stable state, can adjust in advance under one stable condition, arrive higher comformability, active variable gravity balance car, on this basis, balance truck can be made various modularization assembling platform.
A kind of active variable gravity balance of the utility model car, utilize angular transducer 6 image data that wheel 1 is installed, signal carries out encoding and then passes data to main control chip 5 by cireular frequency coder 2, main control chip 5 carries out different combinations to the balance parameters under various different conditions, build a data bank, carry out PID adjustment, utilize the large data-driven actuator 4 of data bank, actuator 4 and then drive motor band motor car wheel change rotation direction, and car is carried out active balancing.Common balance truck mainly utilizes the feedback of sensor to carry out self-control, the hysteresis quality that long-term implacable self-control can cause sensing data to transmit, cause time serious sensor stability bad or damage, this possibly cannot keep balance, less to the degree of dependence of angular transducer in the application's self-control process, regulating time is short, regulates steadily, little on the impact of personnel equipment.
The utility model can using car body as a kind of platform, other modules are installed on this basis, carry out modularization debugging, the alerting ability of two-wheel car is used in more occasion, as replaced people to carry out some adventurous work, strengthen practical value, and some occasions can complete the work of four wheeler, reduce the various cost of reduction of material, have certain economy.
Claims (4)
1. an active variable gravity balance car, it is characterized in that, comprise car body (8), car body (8) bottom is connected with chassis axle (3), chassis axle (3) two ends are connected with a wheel (1) separately, wheel (1) is provided with angular transducer (6), chassis axle (3) is also provided with cireular frequency coder (2), cireular frequency coder (2) is connected to again the upper main control chip (5) installed of car body (8), main control chip (5) is connected with actuator (4) and described angular transducer (6) respectively, described actuator (4) is connected with the motor (7) on wheel (1) side again.
2. a kind of active variable gravity balance car according to claim 1, it is characterized in that, described actuator (4) model is L298N.
3. a kind of active variable gravity balance car according to claim 1, it is characterized in that, described main control chip (5) model is STM32F103ZET6.
4. a kind of active variable gravity balance car according to claim 1, it is characterized in that, described angular transducer (6) model is DWQL-V-360.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520709302.6U CN205034249U (en) | 2015-09-14 | 2015-09-14 | Active change focus balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520709302.6U CN205034249U (en) | 2015-09-14 | 2015-09-14 | Active change focus balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205034249U true CN205034249U (en) | 2016-02-17 |
Family
ID=55293171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520709302.6U Expired - Fee Related CN205034249U (en) | 2015-09-14 | 2015-09-14 | Active change focus balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205034249U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828729A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN107472419A (en) * | 2016-06-07 | 2017-12-15 | 韩莹光 | A kind of method for adjusting gravity center of balance car |
-
2015
- 2015-09-14 CN CN201520709302.6U patent/CN205034249U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472419A (en) * | 2016-06-07 | 2017-12-15 | 韩莹光 | A kind of method for adjusting gravity center of balance car |
| CN106828729A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 Termination date: 20180914 |