CN2884387Y - Two-wheeled, remote-controlled trolly with its upside down pendulum - Google Patents
Two-wheeled, remote-controlled trolly with its upside down pendulum Download PDFInfo
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- CN2884387Y CN2884387Y CN 200520076568 CN200520076568U CN2884387Y CN 2884387 Y CN2884387 Y CN 2884387Y CN 200520076568 CN200520076568 CN 200520076568 CN 200520076568 U CN200520076568 U CN 200520076568U CN 2884387 Y CN2884387 Y CN 2884387Y
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Abstract
The utility model relates to a remote controlled two rounds car inverted pendulum, which is characterized that two DC motors (3) are symmetrically fixed on the body (1). One end of the motor shaft is connected and fixed to the wheels (2), and the other end is connected to the code disc (4) shaft. A gyroscope (7) is installed and a swing link (5) is connected and fixed at the central axis of the two rounds. A controller (11), a remote control receiver (13), a power conversion modules (15), a motor driver (12) are welded on the circuit board (10). The circuit board (10) and the DC power supply (6) are fixed on the body (1). The utility model avoids the control failure of the existing inverted pendulum caused by errors arose from the mechanical transmission failure or transmission gap, so that the balance control can be implemented to allow the walking around on the ground and slopes and the remote controlling. The utility model can be used for teaching and research, and also effectively test the merits of various control algorithms.
Description
Technical field:
The utility model belongs to the automatic control technology field, particularly is used for the experimental provision-inverted pendulum of remote car with two wheels of scientific research or teaching.
Background technology:
Inverted pendulum is a kind of complexity, nonlinear, unsettled system, and it is the typical scientific research or the instructional device of modern control theory and application.The inverted pendulum of existing the most normal use is just like " (Xinan Polytechnical College's journal " (2001, Vol.16, No.3, P.12-16) introduced on the finite length track moving linearly inverted pendulum (hereinafter to be referred as the straight line inverted pendulum) and made the Single-Rotational Inverted Pendulum of movement in a curve as what number of patent application 02138164.x introduced with dead axle.Their motor fuselage all is fixed.Be fixed on an end of guide rail as the motor of straight line inverted pendulum, motor shaft is by comprising the motion of belt pulley and belt or gear and rack for transmission band driving trolley, make the fork on the dolly can not stablize, promptly be dolly rectilinear motion in orbit by rotatablely moving of gearing power transformation machine; The motor of Single-Rotational Inverted Pendulum is fixed on the support, and motor does not fall thereby the maintenance fork is stable by driving the fork motion with its affixed spiral arm; Be that spiral arm has replaced driving-belt and dolly, what spiral arm one end of support fork was done is movement in a curve, and the spiral arm other end is fixedlyed connected with motor shaft, spiral arm and motor shaft interlock like this, say that in essence spiral arm has amplified rotatablely moving of motor shaft, it remains and rotatablely moves, so be called Single-Rotational Inverted Pendulum.Because the controller part in the straight line inverted pendulum, mechanical parts such as power drive part and dolly fork are separated, though and Single-Rotational Inverted Pendulum partly has been put into controller and power drive in the casing, but they still partly are separated with fork, therefore these inverted pendulums exist common issue with: 1) the straight line inverted pendulum moves in the track scope at most, Single-Rotational Inverted Pendulum is being the fixed point in the center of circle with the motor shaft, do the movement in a curve in the 180 degree scopes at most, have to install additional distance caging device and holding circuit on these inverted pendulum devices, can only be confined to horizontal guide rail, perhaps move on the levelling bench, perhaps motion in the point of fixity scope is got in touch very not tight with real life and engineering; 2) if stop means fault or the malfunctioning meeting of holding circuit device cause device damage; 3) because above-mentioned common cause, the range of movement of existing inverted pendulum all is very limited, and controlled quentity controlled variable is can not Jia Detai big, otherwise will exceed its restriction, makes some algorithms can't realize on these reversible pendulum systems; 4) fault of existing inverted pendulum mechanical driving part or error that drive gap causes can cause the control failure.
The utility model content:
The utility model provides a kind of can keep stable, walking freely and remote-controlled inverted pendulum of remote car with two wheels, to overcome the problems referred to above that exist of existing inverted pendulum.
Inverted pendulum of remote car with two wheels of the present utility model comprises: controller, direct current generator and motor driver, power supply, dolly and fork; It is characterized in that: two direct current generators (3) symmetry is fixed on car body (1) left and right sides, chassis, the axle of each direct current generator (3) is affixed mutually with the axle of a wheel (2) respectively, and the other end of axle directly links to each other or links to each other with the axle of a code-disc (4) by drive disk assembly (8) with a code-disc (4) is coaxial; An affixed support (9) on the car body chassis of the axis medium position of two wheels (2) about this, support (9) upper end is affixed with fork (5), and car body (1) and fork (5) can be swung around axle in square with the axis face; The inboard fixedly gyro sensor (7) of support (9) is on the straight line its measurement axis and two wheel axles; Direct supply (6) is fixed on the vehicle body (1);
Controller (11), receiver of remote-control sytem (13), power transfer module (15), motor driver (12) is welded on the printed circuit board (10) by following electric signal annexation: direct supply (6) connects controller through power transfer module (15), motor driver, receiver of remote-control sytem, the feeder ear of gyro sensor and photoelectric code disk, the input end of controller (11) and code-disc (4), gyro sensor (7) is connected with the output terminal of receiver of remote-control sytem (13), the output terminal of controller is connected with the input end of two motor drivers (12), two motor input ends of the output termination of motor driver (12); This printed circuit board (10) is fixed on the vehicle body (1).
Described controller (11) can be selected digital signal processor DSP (Digital Signal Processors), embedded computer system or single-chip microcomputer for use.
Described direct current generator (3) can be selected the direct current generator or the brshless DC motor of direct current torque motor, tape code dish for use.
Described direct supply (6) can be slidingly connected with fork, or fixedlys connected with fork, or is directly installed on the car body.
Based on above-mentioned inverted pendulum of remote car with two wheels of the present utility model, can also make the inverted pendulum of secondary, three grades or more multistage form, way is as follows:
One of double inverted pendulum method for making: at former fork (5) upper end more hinged another root fork (16) affixed with car body, this fork can rotate around pin joint, and the surfaces of revolution is the face vertical with this turning axle; Increase the angle measurement unit of adorning the angle (θ 1-θ 2) that forms between measurement two forks in the position of hinged place and rotating shaft coaxle; Like this, car body and the former fork affixed with it constitute first order pendulum (bottom), and another root fork hinged with first order fork upper end constitutes second level pendulum (going up pendulum).
Two of double inverted pendulum method for making: fork (5) is hinged with car body (1) upper end, and fork can be rotated around pin joint, and the surfaces of revolution is the face vertical with this turning axle; And increase the angle measurement unit of adorning the angle (θ 1-θ 2) that forms between a measuring oscillating bar and the car body in the position of hinged place and rotating shaft coaxle; Like this, car body constitutes one-level pendulum (bottom), and the fork hinged with car body constitutes second level pendulum (going up pendulum).
On the basis of any of two kinds of double inverted pendulum of Jie Shaoing, promptly in kind continue hinged another root pole in the upper end of second level fork in the above, this fork can be rotated around pin joint, the surfaces of revolution is the face vertical with this turning axle; And increase in the hinged place and to adorn an angle measurement unit, three-stage reversible pendulum; By that analogy, can make level Four or more multistage inverted pendulum.
Because the utility model is installed in controller, direct current generator and motor driver, direct supply, dolly and fork, code-disc and gyro sensor, remote control module on the dolly body chassis, form an integral body, self-powered, do not need guide rail, support, thereby overcome the deficiency that existing inverted pendulum can only be confined on horizontal guide rail or the levelling bench or move in the fixed point scope on fixing support, make the inverted pendulum device arbitrarily to walk on the ground; And, in case, can break away from principal computer work after the program download or being cured to controller.The center of gravity that a lot of similar inverted pendulums are arranged in actual life is last, fulcrum under the Balance Control problem, as robot ambulation, rocket Vertical Launch and satellite flight attitude etc.These controlling object all are that movement locus is unrestricted.Inverted pendulum of remote car with two wheels can be under the driving of left and right sides motor in surface level walking freely, therefore can only operate in the more approaching reality of Single-Rotational Inverted Pendulum of the straight line inverted pendulum on the fixation locus and the arc-operation of fixing a point than those, inverted pendulum of remote car with two wheels more can reflect some problems in the working control, the control difficulty increases, the control device that can carry out is also many, can verify various control algolithms effectively.Control to inverted pendulum of remote car with two wheels has more actual application value.
Since the utility model with an end of fork be installed in the affixed dolly chassis of motor fuselage on, dress dolly wheel on the motor shaft, the version that motor shaft and wheel are affixed, thereby between the fork of inverted pendulum of remote car with two wheels and motor shaft without any drive disk assembly or cantilever, thereby overcome existing inverted pendulum because the fault of mechanical driving part or the control that error caused failure that drive gap may cause.
Because the utility model all is welded on controller, remote control module, power transfer module, motor driver and storer on the printed circuit board (10), described controller adopts digital signal processor or embedded computer system or single-chip microcomputer, thereby has saved the motion control card that needs configuration in addition or mould/number, D/A, pulse-width modulation PWM modules such as (Pulse-WidthModulation).The utility model inverted pendulum device can carry out remote control after remote control module is installed; If the supersonic sounding module is installed, then can keep away barrier motion and movement locus planning and control.
Since inverted pendulum of remote car with two wheels of the present utility model by about two motors drive respectively, when keeping fork vertical, can have more freedom of motion at the surface level walking freely; Add that the utility model installed gyro sensor, make inverted pendulum of remote car with two wheels walking freely on the slope.
Because the utility model takes to be equipped with two wheels (2), direct supply (6), fork (5), motor (3), code-disc (4), gyro sensor (7) and controller and circuit board (10) on dolly chassis (1), they all are fixed on little car body (1) chassis, all each components all are installed together, saved the aerial lug between each component, thus make structure more concision and compact, work more reliable.
Because existing inverted pendulum movement travel is conditional, there are gear train or cantilever between fork and motor shaft, thereby increased the constraint condition of control, make some algorithms on these reversible pendulum systems, can't realize.And the kinematic constraint of the utility model two-wheeled dolly inverted pendulum has relaxed, and this system variable, nonlinear degree and instability are increased exponentially, and the realization of inverted pendulum of remote car with two wheels system control is much more difficult.But also just because of the control difficulty is big more, can attract to control interest of experts more, can embody the effect of control method more, the utility model reversible pendulum system is except the research contents of the relevant stability that can keep inverted pendulum in the past and carry out, non-linear and uncertain aspect, can also increase many control difficulty, so that research and displaying more control scheme and control effect.
Description of drawings:
Fig. 1 is the structural representation of inverted pendulum of remote car with two wheels.
Fig. 2 is the plan structure synoptic diagram of inverted pendulum of remote car with two wheels.
Fig. 3 is the side-looking structure and the pendulum angle synoptic diagram of inverted pendulum of remote car with two wheels.
Fig. 4 is the fork of inverted pendulum of remote car with two wheels and " several " type support synoptic diagram that chassis is installed.
Fig. 5 is the control system block diagram of inverted pendulum of remote car with two wheels.
Fig. 6 is the control circuit figure of inverted pendulum of remote car with two wheels.
Fig. 7 is an inverted pendulum of remote car with two wheels principle of work synoptic diagram.
Fig. 8 is one of structural representation of two-wheeled remote operated vehicle double inverted pendulum.
Fig. 9 be two-wheeled remote operated vehicle double inverted pendulum structural representation two.
Figure 10 adds control system block diagram after the supersonic sounding module for inverted pendulum of remote car with two wheels.
Figure 11 adds principle of work synoptic diagram after the supersonic sounding module for inverted pendulum of remote car with two wheels.
Embodiment:
Embodiment 1:
One, the hardware design of inverted pendulum of remote car with two wheels:
The dolly vehicle body (1) of present embodiment inverted pendulum of remote car with two wheels (chassis of length * wide * high 230 * 80 * 90mm) (230 * 80mm) and " several " type support (9) (guaranteeing intensity, wheel (2) (φ 120mm), fork (5) (φ 10*500mm) and other mechanical part all adopt aluminium alloy plate (making of thick 2mm～3mm) are to alleviate the dolly own wt with corrosion resistant plate (thick 2mm) making in length * wide * high 64 * 30 * 60mm).
1. choosing of each functional module:
It is the digital signal processor DSP of TMS320LF2407 that controller in the present embodiment (11) adopts model; Use 5V, 3.3V and 3.300V voltage; Resource mainly comprises in this chip slapper: the dual-port data/program DRAM of 544 words * 16, the flash program storage of 32K in the 2K word * 16 single port data/program SARAM, sheet * 16, Boot ROM in the sheet of 256 words * 16.This chip dominant frequency can reach 40M, can satisfy the system real time requirement; This chip also carries some functional modules, and is very easy to use.The DSP resource that uses in system also comprises input and output IO mouth, timer conter, analog to digital conversion ADC module, pulse-width modulation PWM module and orthogonal coding counting module, can save the motion control card that needs configuration in addition like this, or modules such as mould/number, pulse-width modulation PWM.
Memory chip IS61LV6416 is the high-speed cmos static RAM (SRAM) of a kind of 64K * 16, and supply voltage is 5V, is used to expand DSP sheet stored space, preserves the program of download and the data of operation.Use two in the system of present embodiment, a slice is as external program memory, and another sheet is as external data memory.
Power transfer module (15): each components and parts needs 24V on the control circuit board, 5V, 3.3V, four kinds of power supplys of 3.300V.The external power supply of circuit board is 22.5～
-The 24V direct supply.Obtain the power supply of 5V, V3.3V and 3.300V by various voltage transitions chips.Wherein wide DC voltage modular converter SF5W chip is converted to the 5V DC voltage with the DC voltage of 18V～36V; Voltage transitions chip AS1117 chip is converted to the 5V DC voltage DC voltage of 3.3V; Little encapsulation standard of precision voltage source MAX6043 chip is converted to the DC voltage of 3.300V with the 5V DC voltage, and precision can reach 0.1%, and this chip provides reference voltage for mould in the dsp controller/number AD sampling specially.
Direct current generator in the present embodiment (3) adopts two permanent magnet D.C. torque motor 60LYX031-Z, maximum input voltage 27V, maximum current 2A, maximum output torque 1.1Nm, maximum non-load speed 470r/min, weight 1.2Kg.This motor output torque is big, does not need reduction gear.If select the direct current generator of tape code dish for use, then can save and join code-disc in addition; If select brshless DC motor for use, then except that motor driver with have the direct current generator of brush different, what difference other does not have.
Motor driver (12) adopts two pulse width modulation type motor drive module A3952SW, is used to amplify the control signal that slave controller comes out and drives direct current generator.Motor driver (12) is used 24V, 5V and 3.3V voltage.
The code-disc (4) of measuring dolly displacement and speed is optional with photoelectric code disk, electromagnetic type code-disc or Hall element formula code-disc; Present embodiment adopts two increment photoelectric code disk OVW02-06-2MD, and supply voltage Vdd is 5V, resolution 600 pulse/commentaries on classics.
The reverse trigger 74HC14D of Schmidt chip is also done level translation for the PWM output signal of dsp controller for photoelectricity sign indicating number output shaping pulse.Trigger 74HC14D chip power supply voltage is 5V.
Aspect measurement, the difference of the maximum of inverted pendulum of remote car with two wheels and common inverted pendulum just is the measurement of vehicle body and fork and pedal line angle.General inverted pendulum all has horizontal guide rail or support, and this guide rail or support just provide a horizontal reference, has had horizontal reference just can directly come the angle of measuring oscillating bar with code-disc or pot, and code-disc does not exist noise and drift problem; Inverted pendulum of remote car with two wheels does not have such horizontal reference, do not need can only select the senser element of horizontal reference to come the angle and the angular velocity of measuring oscillating bar, also will take into account measuring accuracy high and measurement response time weak point and requirement in price simultaneously.Gyroscope a kind of sensor that comes to this, but also gyrostatic just introducing has brought the angular velocity measurement noise, and a series of problem such as angle drift is handled at the digital filtering that the gyroscope noise must carry out.Present embodiment gyro sensor (7) adopts a kind of minitype inertial device gyroscope CRS02, measure earlier angular velocity then integration obtain angle; Measurement range 0～± 150 °/sec, linearity %F.S.＜0.5%, ± 10 °/s of drift; The output of this sensor can be represented with following formula:
V
0＝Vdd/2+(ω×SF×Vdd/5)
Wherein, V
0(V) be the gyroscope output voltage, Vdd (V) is gyrostatic supply voltage, and ω (rad/s) is the angular velocity of measuring, and SF (V/rad/s) is a scale-up factor.Gyroscope supply voltage Vdd is 5V in the present embodiment.
Remote control module comprises remote control transmitter (14) and receiver (13); Supply voltage is 5V; Advance, retreat, turn right by telepilot commander dolly, turn left; The present embodiment remote control transmitter is that the quadruple linkage that market is buied pushes away the pulling-lid type remote-control handle, contains transmitter in the handle, and it comprises a coding chip and a transmitter module, emissive power is 10mW, transmitter current is 6mA, and STM technology is the PT2262 coding, and its emission coverage is 20 meters; When providing a telecommand, coding chip becomes instruction into serial signal, is transferred to transmitter module, and transmitter module converts serial signal to the 315MHZ FM signal again and launches; Receiver of remote-control sytem (13) is Receiver Module J04P, this module is used for receiving the FM signal that remote-control handle sends, be demodulated into serial signal and send to demoder PT2272 decoding, finally obtain and the corresponding high-low level of coding chip data terminal at the demoder data terminal, because chip internal has latch, so level only just can change at the next instruction state; Data-out port directly is connected with the IO mouth of DSP, the input remote control command signal.
2. physical construction:
The physical construction of present embodiment inverted pendulum of remote car with two wheels is shown in Fig. 1,2,3,4: control circuit board (10) is made up of a controller (11) DSP and some peripheral circuits, and control circuit board (10) is fixed on dolly body forward structure or rear portion with screw.All components and parts are installed and should be evenly distributed as far as possible, make the installation weight symmetry, will make the car body weight symmetry with the axletree vertical direction especially.
Fuselage one end of two direct current generators (3) is fixed on the left and right sides on car body (1) chassis with the screw symmetry, the shell of photoelectric code disk (4) is fixed through the other end of a duralumin, hard alumin ium alloy plate and direct current generator (3) fuselage, one end of direct current generator (3) axle is fixedlyed connected with wheel (2) becomes the axle of wheel, wheel cooperates with keyway with motor shaft, the axle top is compressed by screw, make car body and fork can with the perpendicular face of two wheel axis in around the axle swing of two wheels; The other end of direct current generator (3) axle, is connected with the axle of photoelectric code disk (4), so that measure the displacement of rotating speed of motor and dolly as gear and gear band by drive disk assembly (8).This axle head of direct current generator (3) also can be directly and coaxial linking to each other of photoelectric code disk (4), thereby can save drive disk assembly (8), but connection can make car body (1) widen like this, and moving of car is flexible not as short car body; Some motor carries scrambler, needn't join code-disc in addition, but this motor is long usually, thereby the vehicle body broad, influences the dirigibility of moving of car; If will make the dolly vehicle body of making short, this motor shaft just must be connected through gear train with the wheel between centers.
The axle of two wheels (2) should be installed point-blank, and gyroscope (7) is installed at the middle part, chassis consistent with this straight line, be the accuracy that guarantees to measure, the axle of gyroscope (7) measurement axis and two wheels is on the straight line, again because the two-wheeled rotor speed is inconsistent usually, so gyroscope must be contained in the centre of two wheels; In order to make the inverted pendulum of remote car with two wheels device is center all directions symmetry with the vertical line, and fork (5) also must be installed in this position, promptly not only gyroscope (7) is installed but also fork (5) is installed at the same position of two-wheeled axis centre; Therefore affixed " several " type support (9) in this position, an end of fork (5) is opened screw thread, with support (9) upper end screwed connection, car body (1) and fork (5) can be swung in the face vertical with this around axle; Because of support (9) inboard is in two wheel axis middle parts, so the support inboard is on the straight line measurement axis of gyro sensor (7) and two wheel axles with the fixing gyroscope (7) of screw; Fork (5) also can be affixed (as the machinery welding) on the support (9) at middle part, chassis, but adopt screwed connection to be convenient to loading and unloading, packing and carrying; At center chassis fork being installed is in order to make dolly weight distribution symmetry.Fork (5) also can be fixed on the top at car body (1) center, saves " several " type support; But because of fork often is in swing state, not exclusively be rigidity, some arranged, install in the bottom than installing firmly at the vehicle body top around property.
Direct supply (6) adopts nylon material to be made into the battery case (φ 75*100mm) of cylindrical shape, in No. five rechargeable batteries of 18 joints be housed form 22.5 volts direct supplys or 24 volts of direct supplys of No. five common batteries compositions of 16 joints.Battery case is installed on top at fork (5), for each components and parts on motor and the control circuit board provide direct supply; In order to make car body and fork symmetry, the battery case center drilling is enclosed within on the fork and is slidingly connected, and adjusts, fix with screw, thereby thereby but the up-down adjustment position is to change the parameter that the dolly center of gravity changes controlling object; Battery case also can be affixed with fork (5), perhaps directly is fixed on the car body (1), but the i.e. malleable object parameters not of malleable fork center of gravity not after fixedly connected; Change the parameter of controlled device in order to be more convenient for; in the fork upper end a little pallet can be installed also; just can on little pallet, place the object cup of water (as be equipped with) like this under the situation about in inverted pendulum stable operation process, needn't shut down; thereby change fork length, weight and center of gravity, the control effect of check control algolithm.
Components and parts such as photoelectric code disk, gyro sensor, direct current generator, dolly and fork, direct supply, controller and circuit board are mounted to an integral body, and compact conformation is self-powered, do not need the support of guide rail and motor, can independently move on the ground; Saved the many aerial lugs between each components and parts like this, it is more reliable to work.
To inverted pendulum of remote car with two wheels of the present utility model, if fork is not affixed with car body, and hinged with car body, just become double inverted pendulum.The stabilized walking of inverted pendulum depends on controller, sensor and actuator, and the control algolithm of controller has determined the control effect; The precision of sensor has determined the control accuracy of total system, the governing speed of the power system for restricting of the response speed of sensor, actuator and actuator; Utilize two-wheeled dolly inverted pendulum that some algorithms are achieved.
3. be electrically connected:
Fig. 5 has provided the electrical principle synoptic diagram of present embodiment inverted pendulum of remote car with two wheels: controller (11), motor driver (12), power transfer module (15) and receiver of remote-control sytem (13) all are welded on the printed circuit board (10); Direct supply (6) converts the feeder ear that controller, motor driver, receiver of remote-control sytem, gyro sensor and photoelectric code disk required voltage connect each components and parts to through power transfer module (15); The input end of controller (11) is connected with code-disc (4), gyro sensor (7) and the output terminal of receiver of remote-control sytem (13), the output terminal of controller is connected with the input end of two motor drivers (12), two motor input ends of the output termination of motor driver (12).
It is the concrete control circuit figure of present embodiment circuit board (10) that Fig. 6 has provided inverted pendulum of remote car with two wheels control circuit figure: the output signal of two photoelectric code disks (4) after the 74HC14D shaping with the quadrature coding pulse counter T2 of dsp controller (11), the input end of T4 is connected, promptly QEP1/QEP2 and the QEP3/QEP4 pin with dsp controller (11) joins, utilize two timer T2 and T4 that the orthogonal coding that two code-discs produce is counted, in the interrupt routine of each control cycle, read the count value of timer T2 and T4, obtain the wheel displacement through converting, and then its differential is obtained wheel velocity; Because the sampling period of two-wheeled dolly inverted pendulum is 5～20ms, and is very short, the differential to displacement can be similar to by the backward difference quotient of displacement sequence like this.In the task manager module (EV) in the dsp controller quadrature coding pulse circuit that is specifically designed to detection is arranged.The sense of rotation of code-disc can arrive earlier to determine that spin angular position and rotating speed can be determined by detecting umber of pulse and pulsed frequency by detecting which row of two pulse trains.DSP inside provides the pin of two pairs of input quadrature coding pulses, QEP1/QEP2 and QEP3/QEP4; These two pairs of pins respectively with the EVA module in timer T2, corresponding with the timer T4 in the EVB module.With the EVA module is example, timer T2 is arranged to directed increase and decrease count mode, and to import quadrature coding pulse as the clock source from QEP1/QEP2, the quadrature coding pulse of this mouthful input is counted; The direction of the quadrature coding pulse circuit in the EVA module detects logic and has determined that in two sequences which is leader, and T2 increases counting or subtracts counting with the decision timer.Two edges of two row quadrature input pulses all can be by the orthogonal coding circuit count, so the count value in the timer T2 is 4 times of the actual pulse number.Similar substantially for EVB module and EVA module;
A mould of the output termination dsp controller (11) of gyroscope (7)/number A/D port ADCIN11 pin links to each other; The pwm signal output terminal PWM7/IOPB0 of dsp controller (11) links to each other with the input end BRAKE/PHASE of two motor drivers of A3952SW (12) respectively after 74HC14D does level translation with PWM9/IOPB3.The output OUT (A) and the OUT (B) of driver (12) connect motor.Four IO port IOE6 of the data terminal D0.D1.D2.D3 of receiver of remote-control sytem (13) and dsp controller (11), IOE5, IOE4, IOE2 links to each other.
In the circuit diagram 6: " DLL (dynamic link library) socket " is the programming cable gang socket of dsp controller and PC; " jumper terminal " with different wire jumpers select to download in the dsp controller sheet still to chip external memory, what select to determine to move is the program of program storage in the sheet or outside the sheet; Whether motor driver connect the 24V power supply when " motor driver power supply wire jumper " was used for being chosen in debugging; " power light " is used for showing whether each power supply is normal.
Two. the principle of work of inverted pendulum of remote car with two wheels Balance Control:
Because car body and fork mainly are the deviation in driction pedal line positions that seesaw with dolly, very little with the influence of dolly left and right directions motion, for the simplification problem, when the Balance Control of inverted pendulum, the mainly motion of consideration dolly fore-and-aft direction, so controller is given the identical controlled quentity controlled variable of left and right sides motor earlier after drawing controlled quentity controlled variable, and dolly is seesawed, after satisfying car body and fork balance and stability, carry out the motion control of dolly left and right directions for again the different controlled quentity controlled variable of left and right sides motor.
Fig. 7 has provided inverted pendulum of remote car with two wheels principle of work synoptic diagram: at first, dsp controller (11) regularly starts each circuit-switched data Acquisition Circuit in the DSP sheet; Receiver of remote-control sytem (13) is sent into dsp controller after receiving the signal of remote control transmitter (14); The rotation status that two photoelectric code disks (4) detect two motors (3) is to feed back to dsp controller (11) behind the displacement signal of dolly, and dsp controller is according to this signal and sampling period computing velocity signal; Gyroscope (7) is measured vehicle body (1) and fork (5) around the angular velocity signal of axletree swing and feed back to dsp controller (11), and dsp controller obtains angle signal after according to this signal integration; Dsp controller obtains relatively to draw error signal with given reference signal after top offset, speed, angle and the angular velocity signal, and reference signal is set by internal processes or receiver of remote-control sytem (13); At last, calculate the fork of sening as an envoy to this error signal according to given control algolithm and keep stablizing the control moment of the required output of left and right sides motor, that is to say to calculate and promptly export two-way pulse-width modulation PWM signal with the pairing controlled quentity controlled variable of moment, after amplifying, motor drive module (12) exports to direct current generator (3), the output torque of two motors of control, direct current generator drive moving of car makes fork keep balance not fall.For the simplification problem, during Balance Control, the controlled quentity controlled variable that above-mentioned controller provides, it is onesize being added on two motor drivers, after the primary goal that has satisfied control is car body and fork balance and stability, what controller (11) just will obtain compares with the instruction of receiver of remote-control sytem (13) with top offset, speed, angle and angular velocity signal, produces two different controlled quentity controlled variables and exports to motor driver (12), and control dolly (1) is done motion all around;
Present embodiment two-wheeled dolly inverted pendulum device Balance Control realizes by software, what adopt is the CCS language development systems programming debugging that the TI of Texas Instruments (Texas Instruments) company provides, controller (11) downloads after the detail programming success, controller (11) uses cycle period down trigger mechanism that system is carried out real-time control, finished in each cycle photoelectric code disk (4) by principle of work, gyroscope (7) supplied with digital signal, the collection of simulating signal, the filtering of simulating signal, the real-time calculating of control law (control algolithm), the output controlled quentity controlled variable is given motor drive module (12), realizes the FEEDBACK CONTROL of inverted pendulum.
Three. effect:
After the inverted pendulum device assembles, press (as traditional Assignment of Closed-Loop Poles or linear quadratic type method for optimally controlling) after the balance control method programmed of inverted pendulum of remote car with two wheels, download to dsp controller by cable, after finishing, download disconnects download cable, the power supply of engaging means, working procedure carries out the loop cycle sampling, with hand steered straight fork, make it in the plumb position and keep 15 seconds left and right sides motionless as far as possible, at this moment the program of an automatic judgement total null voltage of finishing in advance can judge that this position is the initial position of fork, it is zero-bit, after obtaining zero-bit, program is carried out further work, decontrol hand then, controller carries out the loop cycle sampling, filtering, calculate, output: the motion state of promptly gathering the inverted pendulum device, calculate and the output controlled quentity controlled variable by certain control algolithm, drive direct current generator and make motor movement, to keep fork not fall, from finding zero-bit only to need five or six second time to the fork stable equilibrium, behind the fork balance and stability, available remote-control handle sends a left side, right, before, the telecommand of back motion, after the inverted pendulum device is received telecommand, can be by the telecommand walking of turning on the ground.The robust control algorithm that once used Assignment of Closed-Loop Poles, the optimum control of linear quadratic type, has disk limit and a Variance Constraints comes the design point feedback factor to realize the inverted pendulum Balance Control, and use the human-imitating intelligent control algorithm, and the control effect is ideal very.Operation shows that inverted pendulum of remote car with two wheels can not only be according to telecommand stabilized walking on ground level, and on its fork, tiltedly hang one kilogram of multiple water tumbler (having changed the weight and the center of controlled device) and (changed the weight of controlled device at the one kilogram of multiple water tumbler in top, fork upper end, center of gravity and the length that has been equivalent to change fork) time, it can not stablize in the same old way, the model of hanging water tumbler and top water tumbler front and back system has very big difference, make the weight of system, the moment of inertia that centre of gravity place and fork rotate around center of gravity all has greatly changed, even if yet under these circumstances, dolly still can keep balance well; For the further anti-interference and adaptive ability of check control algolithm, the inverted pendulum of remote car with two wheels device to be put on the ground with 15 degree left and right sides ascents and descents, it can be walked on the slope still can freedom of movement.Inverted pendulum hangs one kilogram of multiple water tumbler, the one kilogram of multiple water tumbler in top, fork upper end, walk slope, straighforward operation etc. had done demonstration at Chinese University of Science and Technology's Information Institute, had proved absolutely on inverted pendulum of remote car with two wheels and can effectively verify various control algolithm performances.Through use confirming: inverted pendulum of remote car with two wheels compact conformation, reliable operation, produced free no constrained motion, antijamming capability is strong, robustness is good good effect.
Embodiment 2: the inverted pendulum of two-wheeled remote operated vehicle double inverted pendulum and multistage form
Based on the embodiment of above-mentioned inverted pendulum of remote car with two wheels of the present utility model, can also make the inverted pendulum of secondary, three grades or more multistage form, way is as follows:
One of double inverted pendulum method for making, as shown in Figure 8: car body (1) and fork (5) are around the rotation of wheel (2) axle; At former fork (5) upper end more hinged another root fork (16) affixed with car body, this fork (16) can rotate around pin joint, and their surfaces of revolution is the face vertical with turning axle; Increase in the position of hinged place and rotating shaft coaxle and to adorn an angle measurement unit, make the angle (θ 1-θ 2) that forms between its energy measurement two forks; Car body (1) and the former fork (5) affixed with it constitute first order pendulum (bottom) like this, and another root fork (16) hinged with first order fork (5) upper end constitutes second level pendulum (going up pendulum); Car body (1) and fork (5) are around the axle rotation of wheel, the surfaces of revolution also is the face vertical with turning axle, does not have horizontal reference owing to measure, and the rotation angle θ 1 of first order pendulum (bottom) needs to use inertial measurement component, use gyroscope in this example, gyroscope is measured angular velocity earlier and is obtained angle by integration then; The angle (θ 1-θ 2) available code-disc or the price more honest and cleaner resistance potentiometer more inexpensive than gyroscope that form between first order pendulum (bottom) and the second level pendulum (going up pendulum) are measured.
Two of double inverted pendulum method for making, as shown in Figure 9: car body (1) is around the rotation of wheel (2) axle; Fork (5) is hinged at the top center and the car body (1) of car body (1), and fork (5) can be rotated around pin joint, and their surfaces of revolution is the face vertical with turning axle; And increase in the position of hinged place and rotating shaft coaxle and to adorn an angle measurement unit, make the angle (θ 1-θ 2) that forms between its energy measurement fork (5) and the car body (1); Car body (1) constitutes one-level pendulum (bottom) like this, and the fork hinged with car body (5) constitutes second level pendulum (going up pendulum); Because car body is around the axle rotation of wheel, measurement does not have horizontal reference, the angle that car body (1) rotates around wheel (2) axle is that the rotation angle θ 1 of first order pendulum (bottom) needs use inertial measurement component, uses gyroscope in this example, and gyroscope is measured angular velocity earlier and obtained angle by integration then; The angle (θ 1-θ 2) available code-disc or the price more honest and cleaner resistance potentiometer more inexpensive than gyroscope that form between car body (bottom) and the second level pendulum (going up pendulum) are measured.
On the basis of any of two kinds of double inverted pendulum of Jie Shaoing, promptly in kind continue hinged another root pole in the above, and increase in the hinged place and to adorn an angle measurement unit, just can make three-stage reversible pendulum in the upper end of second level fork; Can make the inverted pendulum of level Four or more multistage form similarly.
The Balance Control of two-wheeled remote operated vehicle double inverted pendulum is identical with the Balance Control principle of two-wheeled remote operated vehicle one-level inverted pendulum, and Programming Methodology is that state variable is many two too, computing several times that computer program is many.
Embodiment 3: the two-wheeled remote operated vehicle double inverted pendulum that can keep away barrier
Based on the embodiment 1 of above-mentioned inverted pendulum of remote car with two wheels of the present utility model, can also make this inverted pendulum have the function of dodging the place ahead barrier, way is as follows:
The supersonic sounding module comprises a transmitter (17) and two receivers (18), is in order to make dolly that the function of dodging the place ahead barrier automatically can be arranged.Ultrasonic module is similar to remote control module, forms by transmitting and receiving two parts.Radiating portion is made up of a 38KHZ frequency generator and a ultrasonic emitting probe; Receiving unit then is made up of a receiving transducer and a sensor amplifying circuit.Their supply voltage all is 5V; The frequency generator of 38KHZ is realized by controller DSP internal processes, and is directly driven transmitting probe by the IOPF6 mouth of controller DSP; Transmitting probe is converted to ultrasonic emitting with pulse signal and goes out, sound wave can reflect after running into barrier, two receiving transducers are after receiving reflection wave, and it being restored is pulse again, receive two external interrupt mouths of dsp controller after pulse is amplified through amplifying circuit respectively.When controller DSP produces the 38KHZ pulse, open timer, when receiving pulse, cause external interrupt, in interrupt routine, write down the value of timer this moment, Here it is the used back and forth time t of sound wave; The aerial speed of sound wave is 340m/s; So apart from l=t*340/2.Just can obtain the range information of barrier thus, the distance of receiving owing to two receivers is different, obtains the directional information of barrier thus.
Figure 10 has provided the present embodiment inverted pendulum of remote car with two wheels and added the electrical principle synoptic diagram after the ultrasonic wave module: transmitter of supersonic sounding module (17) and receiver (18) are welded on the circuit board by principle schematic, and circuit board is installed on Vehicular body front.By transmitting of controller DSP inner generation 38KHz, and send ultrasound wave through the transmitting probe (17) of supersonic sounding module by the IOPF6 mouth of DSP, return running into the object back reflection, the receiver (18) by the supersonic sounding module is the external interrupt INT1 port that infrared receiving circuit is sent into the signal that receives controller DSP.
Figure 11 has provided inverted pendulum of remote car with two wheels and has added principle of work synoptic diagram after the ultrasonic wave module, Fig. 6 has provided physical circuit figure: about two ultrasonic wave module receivers (18) signal that receives is received external interrupt XINT1 and the XINT2 port of controller DSP, its interrupt levels is lower than main interrupt INT 2; Controller (11) is compared with existing dolly state according to the signal that receives, and determines whether to slow down, stop or turning round, and produces the corresponding motor driver drive motor that outputs signal to, and commander's dolly is dodged the place ahead barrier.
Claims (3)
1, a kind of inverted pendulum of remote car with two wheels comprises: controller, direct current generator and motor driver, power supply, dolly and fork; It is characterized in that: two direct current generators (3) symmetry is fixed on car body (1) left and right sides, chassis, the axle of each direct current generator (3) is affixed mutually with the axle of a wheel (2) respectively, and the other end of axle directly links to each other or links to each other with the axle of a code-disc (4) by drive disk assembly (8) with a code-disc (4) is coaxial; An affixed support (9) on the car body chassis of the axis medium position of two wheels (2) about this, support (9) upper end is affixed with fork (5), and car body (1) and fork (5) can be swung around axle in square with the axis face; The inboard fixedly gyro sensor (7) of support (9) is on the straight line its measurement axis and two wheel axles; Direct supply (6) is fixed on the vehicle body (1);
Controller (11), receiver of remote-control sytem (13), power transfer module (15), motor driver (12) is welded on the printed circuit board (10) by following electric signal annexation: direct supply (6) connects controller through power transfer module (15), motor driver, receiver of remote-control sytem, the feeder ear of gyro sensor and photoelectric code disk, the input end of controller (11) and code-disc (4), gyro sensor (7) is connected with the output terminal of receiver of remote-control sytem (13), the output terminal of controller is connected with the input end of two motor drivers (12), two motor input ends of the output termination of motor driver (12); This printed circuit board (10) is fixed on the vehicle body (1).
2, inverted pendulum of remote car with two wheels as claimed in claim 1 is characterised in that described controller (11) is digital signal processor, embedded computer system or single-chip microcomputer.
3, inverted pendulum of remote car with two wheels as claimed in claim 1 is characterised in that direct current generator or the brshless DC motor of described direct current generator (3) for direct current torque motor, tape code dish.
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| CN 200520076568 CN2884387Y (en) | 2005-10-18 | 2005-10-18 | Two-wheeled, remote-controlled trolly with its upside down pendulum |
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| CN 200520076568 CN2884387Y (en) | 2005-10-18 | 2005-10-18 | Two-wheeled, remote-controlled trolly with its upside down pendulum |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100511326C (en) * | 2005-10-18 | 2009-07-08 | 中国科学技术大学 | Inverted pendulum of remote car with two wheels and balance control method thereof |
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN102542896A (en) * | 2012-01-04 | 2012-07-04 | 绍兴文理学院 | Double-wheel self-balancing trolley |
| CN102566418A (en) * | 2012-02-17 | 2012-07-11 | 北京国电蓝天节能科技开发有限公司 | Method for controlling adaptive sliding mode of inverted pendulum without physical parameter |
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| CN100511326C (en) * | 2005-10-18 | 2009-07-08 | 中国科学技术大学 | Inverted pendulum of remote car with two wheels and balance control method thereof |
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN101850548B (en) * | 2010-04-16 | 2011-06-08 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN102542896A (en) * | 2012-01-04 | 2012-07-04 | 绍兴文理学院 | Double-wheel self-balancing trolley |
| CN102566418A (en) * | 2012-02-17 | 2012-07-11 | 北京国电蓝天节能科技开发有限公司 | Method for controlling adaptive sliding mode of inverted pendulum without physical parameter |
| CN102880181A (en) * | 2012-09-06 | 2013-01-16 | 中山大学 | Inverted pendulum system as well as control circuit and control method thereof |
| CN104882044A (en) * | 2015-06-01 | 2015-09-02 | 德州学院 | Freescale intelligent vehicle experiment apparatus |
| CN104835380A (en) * | 2015-06-03 | 2015-08-12 | 德州学院 | Intelligent vehicle control experiment device |
| CN104835380B (en) * | 2015-06-03 | 2019-04-02 | 德州学院 | A kind of intelligent vehicle control experimental provision |
| CN106763453A (en) * | 2017-01-13 | 2017-05-31 | 上海化工研究院有限公司 | A kind of pendulum type gyroscope stabilization vehicle-mounted precision instrument workbench of combined vibration-damping |
| CN106763453B (en) * | 2017-01-13 | 2019-11-12 | 上海化工研究院有限公司 | A kind of stable vehicle-mounted precision instrument workbench of combined vibration-damping of pendulum type gyroscope |
| CN107363852A (en) * | 2017-07-18 | 2017-11-21 | 武汉理工大学 | A kind of omni-directional mobile robots and control method for carrying planar inverted pendulum |
| CN107872114A (en) * | 2017-11-14 | 2018-04-03 | 宋彦震 | Vibration movement device and its control method |
| US11210969B1 (en) * | 2021-06-16 | 2021-12-28 | King Abdulaziz University | Center of gravity based control apparatus for research and education |
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