CN205679999U - A kind of balanced bi-wheel vehicle - Google Patents
A kind of balanced bi-wheel vehicle Download PDFInfo
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- CN205679999U CN205679999U CN201620632341.5U CN201620632341U CN205679999U CN 205679999 U CN205679999 U CN 205679999U CN 201620632341 U CN201620632341 U CN 201620632341U CN 205679999 U CN205679999 U CN 205679999U
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Abstract
The utility model discloses a kind of two-wheeled balance car, belong to balance car equipment technical field.The two-wheeled balance car structure of prior art is complicated, and running precision is the highest, and production cost is high.A kind of balanced bi-wheel vehicle, including the main control chip in order to control motor rotation, in order to detect the sensor of vehicle body attitude, in order to drive the motor of body movement, described main control chip connects one and is connected with motor in order to the PID regulator being modified control deviation, described PID regulator；Described main control chip connects one and makes angular displacement or straight-line displacement be converted into the encoder of the signal of telecommunication, and described encoder is connected with sensor.This utility model uses acceleration transducer, gyro sensor can accurately detect the gradient of car body simultaneously, and then makes car body can preferably keep balance.This utility model simple in construction, control accuracy is high, and production cost is low.
Description
Technical field
This utility model relates to a kind of two-wheeled balance car, belongs to balance car equipment technical field.
Background technology
Two-wheeled balance car utilizes centrifugal force to make himself to keep balance dexterously, and it is dynamic to make gravity itself become motion
The supplier of energy, load-carrying is the biggest, and traveling kinetic energy is the biggest, has the feature of environmental protection.Driver need not oneself and grasps balance,
The stability of equilibrium of car body self so that even if cannot crowd by bike can drive too due to balanced capacity obstacle
Drive balance car.Vehicle body is small and exquisite, turns flexibly, can be in the workplace operation of corner narrow, big.Two-wheeled balance car all excellent
Point make its can as one quickly, environmental protection, safe, comfortable, small and exquisite, green traffic instrument flexibly, be future automobile and from
The succedaneum of driving, the extensity in its market is self-evident with economic benefit.But the two-wheeled balance car structure of prior art is multiple
Miscellaneous, running precision is the highest, and production cost is high.For drawbacks described above present in currently available technology, it is necessary to research and develop in fact,
Solve defect present in prior art.
Utility model content
For the defect of prior art, the purpose of this utility model is to provide a kind of simple in construction, and running precision is high, raw
Produce the two-wheeled balance car of low cost.
For achieving the above object, the technical solution of the utility model is:
A kind of balanced bi-wheel vehicle, including the main control chip in order to control motor rotation, in order to detect the biography of vehicle body attitude
Sensor, in order to drive the motor of body movement, described main control chip connect one in order to control deviation is modified PID regulation
Device, described PID regulator is connected with motor；Described main control chip connects one and makes angular displacement or straight-line displacement be converted into telecommunications
Number encoder, described encoder is connected with sensor.
Further, described sensor includes acceleration transducer, gyro sensor.Acceleration transducer exports with it
3-axis acceleration centered by chip, just can calculate the inclination angle of chip, i.e. car body by the acceleration of gravity of these three axle
Inclination angle.The static properties of acceleration transducer is fine, can measure the inclination angle of accurate stable under car body static state.Gyro sensors
Device can export the angular velocity around three axles centered by chip, by reading the integration of angular velocity, can draw inclining of car body
Angle.The dynamic property of gyro sensor is good, at the car body dynamically lower inclination angle that can measure accurate stable.Use acceleration to pass simultaneously
Sensor, gyro sensor can accurately detect the gradient of car body, and then main control chip controls motor rotation and makes car body energy
Enough preferably holding, balances.
Further, described main control chip is the serial single-chip microcomputer as kernel of Cortex-M with ARM, and model is STM32.
The serial single-chip microcomputer as kernel of Cortex-M with ARM, other single-chip microcomputers relatively, peripheral hardware enriches, and dominant frequency is high, and low price has
Special software library, simple to operate, debugging is convenient, low-power consumption.Strong type series clock frequency reaches 72MHz, is in like product
The product that performance is the highest；Basic model clock frequency is 36MHz, obtains being substantially improved than 16 products with the price of 16 products
Performance.
Further, described main control chip can also be enhancement mode 51 monolithic of built-in mould number conversion and iic bus interface
Machine, model is STC12C5A60S2.The built-in ADC of 51 single-chip microcomputer (analog digital conversion) and iic bus interface, and internal clocking regardless of
Frequently, can reach 1MPS, cost performance is high.Enhancement mode 51 single-chip microcomputer can carry out IIC communication and exportable flexible control with sensor
Pwm signal and carry out substantial amounts of mathematical operation.
Further, described motor is motor.
Further, described motor is brush direct current motor.It is hard that brush direct current motor has mechanical property, response speed
Hurry up, the feature of speed-regulating range width, meet balanced bi-wheel vehicle to the requirement such as susceptiveness, rapidity.Multilamellar frame for movement can be used,
Drive circuit separates with other circuit, reduces electromagnetic interference.
Further, gyro sensor is 9 axle motion process sensors.The model of gyro sensor is MPU-
60X0.MPU-60X0 is 9 axle motion process sensors, and it is integrated with 3 axle MEMS gyroscope, 3 axle mems accelerometers.
Further, described motor connects one drive circuit, and described drive circuit uses H bridge to drive.
Further, described PID regulator includes regulating the speed regulator of motor speed, in order to regulate motor angle
The angle demodulator of degree.Speed regulator is speed ring, is used for controlling motor output, makes vehicle wheel rotational speed protect with angle ring output valve
Hold consistent；Angle demodulator is angle ring, and being used for keeping tilting of car body angle is 0.Utilize double-loop control so that car body runs essence
Degree height.
Compared with prior art, this utility model has the advantages that
This utility model uses acceleration transducer, gyro sensor can accurately detect the gradient of car body simultaneously,
And then main control chip controls motor rotation and makes car body can preferably keep balance.
This utility model utilizes speed regulator for speed ring, is used for controlling motor output, makes vehicle wheel rotational speed and angle ring
Output valve keeps consistent；Angle demodulator is angle ring, and being used for keeping tilting of car body angle is 0.Utilize double-loop control so that car
Running body precision is high.
This utility model simple in construction, control accuracy is high, and production cost is low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.Should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
On the contrary, this utility model contain any be defined by the claims do in spirit and scope of the present utility model
Replacement, amendment, equivalent method and scheme.Further, in order to make the public that this utility model to be had a better understanding, the most right
During details of the present utility model describes, detailed describe some specific detail sections.Do not have for a person skilled in the art
The description of these detail sections can also understand this utility model completely.
As it is shown in figure 1, a kind of balanced bi-wheel vehicle, including the main control chip in order to control motor rotation, in order to detect car
The sensor of body attitude, in order to drive the motor of body movement, described main control chip connects one in order to repair control deviation
Positive PID regulator, described PID regulator is connected with motor；Described main control chip connects one and makes angular displacement or straight line position
Transfer changes the encoder of the signal of telecommunication into, and described encoder is connected with sensor.Signal or the data of sensor are entered by encoder
Row establishment, be converted to the signal that may be used to communication, transmit and store.
Described sensor includes acceleration transducer, gyro sensor.Gyro sensor is 9 axle motion process sensings
Device.Acceleration transducer output 3-axis acceleration centered by its chip, the acceleration of gravity by these three axle is the most permissible
Calculate the inclination angle at the inclination angle of chip, i.e. car body.The static properties of acceleration transducer is fine, can measure standard under car body static state
The most stable inclination angle.
Gyro sensor can export the angular velocity around three axles centered by chip, by reading the long-pending of angular velocity
Point, the inclination angle of car body can be drawn.The dynamic property of gyro sensor is good, dynamically can measure inclining of accurate stable down at car body
Angle.The model of gyro sensor is MPU-60X0.MPU-60X0 is 9 axle motion process sensors.It is integrated with 3 axle MEMS tops
Spiral shell instrument, 3 axle mems accelerometers, and an extendible digital moving processor DMP (Digital Motion
Processor), available I2C interface connects third-party digital sensor, such as a magnetometer.Just can lead to after extension
Cross its I2C or the signal (SPI interface only can be used) of SPI interface one 9 axle of output at MPU-6000.MPU-60X0 to gyroscope and
The ADC of three 16 used respectively by accelerometer, and the analog quantity measured is converted into exportable digital quantity.In order to accurately with
Track motion quickly and at a slow speed, the measurement scope of sensor is all that user is controlled, and it is ± 250 that gyroscope can survey scope, ±
500, ± 1000, ± 2000 °s/sec (dps), it is ± 2 that accelerometer can survey scope, ± 4, ± 8, ± 16g.1024 words on one sheet
The FIFO of joint, contributes to reducing system power dissipation.And between all devices depositor communication use 400kHz I2C interface or
The SPI interface (SPI only MPU-6000 can use) of 1MHz.Reading and interruption for needing the application of high-speed transfer, to depositor
The SPI of available 20MHz.It addition, the most embedded temperature sensor and only have shaking of ± 1% variation under working environment on sheet
Swing device.Use QFN encapsulation (without lead-in wire square package), the impact of maximum 10000g can be born, and have programmable low-pass filtering
Device.About power supply, MPU-60X0 can support VDD scope 2.5V ± 5%, 3.0V ± 5%, or 3.3V ± 5%.Additionally MPU-60X0
Also have a VLOGIC pin, be used for providing logic level for I2C output.VLOGIC voltage desirable 1.8 ± 5% or VDD.
Described main control chip can be the serial single-chip microcomputer as kernel of Cortex-M with ARM, and model is STM32.With ARM
The single-chip microcomputer that Cortex-M series is kernel, other single-chip microcomputers relatively, peripheral hardware enriches, and dominant frequency is high, and low price has special
Software library, simple to operate, debugging is convenient, low-power consumption.Strong type series clock frequency reaches 72MHz, is that in like product performance is
High product；Basic model clock frequency is 36MHz, obtains the performance being substantially improved than 16 products with the price of 16 products.
Described main control chip can also be enhancement mode 51 single-chip microcomputer of built-in mould number conversion and iic bus interface, and model is
STC12C5A60S2.The built-in ADC of 51 single-chip microcomputer (analog digital conversion) and iic bus interface, and internal clocking do not divides, and can reach
1MPS, cost performance is high.Enhancement mode 51 single-chip microcomputer can carry out IIC communication and the pwm signal of exportable flexible control with sensor
And carry out substantial amounts of mathematical operation.
Preferred STM32 is considered as main control chip of the present utility model, owing to peripheral hardware compares from performance and price
Simply, only need to increase IIC and PWM passage, therefore concrete model orientates STM32C8T6 as.
Described motor can be that motor can also be for brush direct current motor, preferably brush direct current motor.DC brush
It is hard that motor has mechanical property, fast response time, the feature of speed-regulating range width, meet balanced bi-wheel vehicle to susceptiveness, quickly
The requirements such as property.Multilamellar frame for movement, drive circuit can be used to separate with other circuit, reduce electromagnetic interference.Described motor connects
One drive circuit, described drive circuit uses H bridge to drive, and uses pulse width modulation mode regulation motor both end voltage virtual value, reaches
Mesh to speed governing.Described PID regulator includes regulating the speed regulator of motor speed, in order to regulate the angle of motor angle
Degree actuator.
Operation principle of the present utility model:
System start-up, acceleration transducer and gyro sensor detect the inclination angle of car body respectively.Acceleration transducer
Being transferred to main control chip with the encoded device of detection signal of gyro sensor, detection signal is analyzed processing by main control chip
And send a signal to PID regulator and carry out signal modulation.Speed regulator be speed ring control motor output, make vehicle wheel rotational speed with
Angle ring output valve keeps consistent；Angle demodulator is that angle ring controls motor output so that keeping tilting of car body angle is 0,
Carry out realizing the balance of car body.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (9)
1. a balanced bi-wheel vehicle, including the main control chip in order to control motor rotation, in order to detect the sensing of vehicle body attitude
Device, in order to drive the motor of body movement, it is characterised in that described main control chip connects one in order to be modified control deviation
PID regulator, described PID regulator is connected with motor；Described main control chip connects one and makes angular displacement or straight-line displacement
Being converted into the encoder of the signal of telecommunication, described encoder is connected with sensor.
2. a kind of balanced bi-wheel vehicle as claimed in claim 1, it is characterised in that described sensor includes acceleration sensing
Device, gyro sensor.
3. a kind of balanced bi-wheel vehicle as claimed in claim 2, it is characterised in that described main control chip is with ARM's
Cortex-M series is the single-chip microcomputer of kernel.
4. a kind of balanced bi-wheel vehicle as claimed in claim 2, it is characterised in that described main control chip is built-in mould number conversion
With enhancement mode 51 single-chip microcomputer of iic bus interface, model is STC12C5A60S2.
5. a kind of balanced bi-wheel vehicle as described in as arbitrary in claim 3 or 4, it is characterised in that described motor is motor.
6. a kind of balanced bi-wheel vehicle as described in as arbitrary in claim 3 or 4, it is characterised in that described motor is DC brush
Motor.
7. a kind of balanced bi-wheel vehicle as claimed in claim 6, it is characterised in that gyro sensor is 9 axle motion process
Sensor.
8. a kind of balanced bi-wheel vehicle as claimed in claim 7, it is characterised in that described motor connects one drive circuit, institute
Stating drive circuit uses H bridge to drive.
9. a kind of balanced bi-wheel vehicle as claimed in claim 8, it is characterised in that described PID regulator includes regulating
The speed regulator of motor speed, in order to regulate the angle demodulator of motor angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620632341.5U CN205679999U (en) | 2016-06-22 | 2016-06-22 | A kind of balanced bi-wheel vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620632341.5U CN205679999U (en) | 2016-06-22 | 2016-06-22 | A kind of balanced bi-wheel vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN205679999U true CN205679999U (en) | 2016-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620632341.5U Expired - Fee Related CN205679999U (en) | 2016-06-22 | 2016-06-22 | A kind of balanced bi-wheel vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774353A (en) * | 2017-03-31 | 2017-05-31 | 成都信息工程大学 | One kind can avoidance Self-Balancing vehicle control device and Self-Balancing vehicle |
| CN107344587A (en) * | 2017-07-27 | 2017-11-14 | 南京信息工程大学 | A kind of Self-Balancing vehicle obstacle avoidance system based on PID controller |
| WO2019047560A1 (en) * | 2017-09-07 | 2019-03-14 | 歌尔股份有限公司 | Weight-bearing measuring device and method, and weight-bearing apparatus |
| CN110612559A (en) * | 2017-03-08 | 2019-12-24 | 看门人***公司 | Navigation system for wheeled vehicle |
| CN113843790A (en) * | 2021-09-13 | 2021-12-28 | 歌尔科技有限公司 | Robot, method for controlling robot, and readable storage medium |
-
2016
- 2016-06-22 CN CN201620632341.5U patent/CN205679999U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110612559A (en) * | 2017-03-08 | 2019-12-24 | 看门人***公司 | Navigation system for wheeled vehicle |
| CN110612559B (en) * | 2017-03-08 | 2021-10-15 | 看门人***公司 | Navigation system for wheeled vehicle |
| CN106774353A (en) * | 2017-03-31 | 2017-05-31 | 成都信息工程大学 | One kind can avoidance Self-Balancing vehicle control device and Self-Balancing vehicle |
| CN107344587A (en) * | 2017-07-27 | 2017-11-14 | 南京信息工程大学 | A kind of Self-Balancing vehicle obstacle avoidance system based on PID controller |
| WO2019047560A1 (en) * | 2017-09-07 | 2019-03-14 | 歌尔股份有限公司 | Weight-bearing measuring device and method, and weight-bearing apparatus |
| US11391617B2 (en) | 2017-09-07 | 2022-07-19 | Goertek Inc. | Weight-bearing measurement device and method and weight-bearing equipment |
| CN113843790A (en) * | 2021-09-13 | 2021-12-28 | 歌尔科技有限公司 | Robot, method for controlling robot, and readable storage medium |
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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 |
Granted publication date: 20161109 Termination date: 20170622 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |