WO2019047509A1

WO2019047509A1 - Two-wheel monorail vehicle and balance control method therefor

Info

Publication number: WO2019047509A1
Application number: PCT/CN2018/081275
Authority: WO
Inventors: 王峰; 王裕; 翁一航; 梁鸿泽; 方忠桂; 曾昭恒; 杨春媚; 梅琪; 龙保任; 黄祖德; 曹彬; 李庭威; 夏佩; 刘怡俊; 刘立程
Original assignee: 广东工业大学
Priority date: 2017-09-11
Filing date: 2018-03-30
Publication date: 2019-03-14
Also published as: CN107600267A; CN107600267B

Abstract

A two-wheel monorail vehicle and a balance control method therefor, the vehicle comprising: a sensor subsystem, an embedded computer (7), and a motor drive subsystem. The motor drive subsystem comprises: a steering motor (3) driver, a front wheel (1) motor driver, and brake drivers mounted on a front wheel (1) and a rear wheel (12). The sensor subsystem acquires driving data and driving target data of the two-wheel monorail vehicle. The embedded computer computes and outputs cooperative motor drive signals according to the driving data and the driving target data. The motor drive subsystem controls the torque output of a corresponding motor according to each signal in the cooperative motor drive signals, so that the two-wheel monorail vehicle reaches a dynamic balance state, and driving is planned according to the driving target data.

Description

一种二轮单轨车辆及其平衡的控制方法Two-wheel monorail vehicle and its balance control method

技术领域Technical field

本申请要求于2017年9月11日提交中国专利局、申请号为201710810932.6、发明名称为“一种二轮单轨车辆及其平衡的控制方法”的国内申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the domestic application filed on September 11, 2017, the Chinese Patent Office, the application number is 201710810932.6, and the invention is entitled "a two-wheel monorail vehicle and its balanced control method", the entire contents of which are incorporated by reference. In this application.

背景技术Background technique

二轮单轨车辆，例如：电动自行车和摩托车，以高节能、低排放和低空间占用率，越来越受到用户的喜爱，进而二轮单轨车辆的使用率逐年上升。Two-wheel monorail vehicles, such as electric bicycles and motorcycles, are increasingly popular with users due to their high energy efficiency, low emissions and low space occupancy, and the usage rate of two-wheel monorail vehicles has increased year by year.

驾驶人在使用二轮单轨车辆时，为了保证二轮单轨车辆的动态平衡，提出了自动控制平衡的二轮单轨车辆，自动控制平衡的二轮单轨车辆上的控制器根据车辆上安装的传感器测量得到的车辆行驶数据和行驶目标数据，采用多体动力学模型和欠驱动***控制方法，控制二轮单轨车辆的转弯电机和刹车驱动器，以达到二轮单轨车辆的动态平衡。When using a two-wheel monorail vehicle, in order to ensure the dynamic balance of the two-wheel monorail vehicle, a two-wheel monorail vehicle with automatic control balance is proposed. The controller on the two-wheel monorail vehicle with automatic control balance is measured according to the sensor installed on the vehicle. The obtained vehicle driving data and driving target data are controlled by a multi-body dynamic model and an under-actuated system control method to control the turning motor and the brake driver of the two-wheel monorail vehicle to achieve dynamic balance of the two-wheel monorail vehicle.

自动控制平衡的二轮单轨车辆中的转弯电机只有在非零速度的情况下才能够调节车身重心和车轮支撑点的相对位置，所以现有的自动控制平衡的二轮单轨车辆，在车辆从停车状态到行驶状态或者是从行驶状态到停车状态时，不能自动保持动态平衡。The turning motor in the two-wheel monorail vehicle with automatic control balance can adjust the relative position of the center of gravity and the wheel support point only at non-zero speed, so the existing automatic control balanced two-wheel monorail vehicle in the vehicle from the parking When the state is in the driving state or from the driving state to the parking state, the dynamic balance cannot be automatically maintained.

发明内容Summary of the invention

有鉴于此，本发明提供一种二轮单轨车辆及其平衡的控制方法，以解决现有的自动控制平衡的二轮单轨车辆，在车辆从停车状态到行驶状态或者是从行驶状态到停车状态时，不能自动保持动态平衡的问题。In view of this, the present invention provides a two-wheel monorail vehicle and a balanced control method thereof to solve the existing two-wheel monorail vehicle with automatic control balance, from a parking state to a running state or a driving state to a parking state. When you do not automatically maintain the problem of dynamic balance.

为解决上述技术问题，本发明采用了如下技术方案：In order to solve the above technical problems, the present invention adopts the following technical solutions:

一种二轮单轨车辆，包括传感器子***、嵌入式电脑和电机驱动子***；其中，所述电机驱动子***包括转弯电机驱动器、前轮电机驱动器和安装在前轮和后轮上的刹车驱动器构成；A two-wheel monorail vehicle includes a sensor subsystem, an embedded computer, and a motor drive subsystem; wherein the motor drive subsystem includes a turn motor driver, a front wheel motor driver, and a brake driver mounted on the front and rear wheels Constitute

所述传感器子***，用于采集二轮单轨车辆的行驶数据和行驶目标数据；The sensor subsystem is configured to collect driving data and driving target data of a two-wheel monorail vehicle;

所述嵌入式电脑，用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号；The embedded computer is configured to calculate and output a coordinated motor drive signal according to the driving data and the driving target data;

所述电机驱动子***，用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。The motor drive subsystem is configured to control a torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.

优选地，所述嵌入式电脑用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：Preferably, the embedded computer is configured to: when calculating and outputting a coordinated motor driving signal according to the driving data and the driving target data, specifically:

根据所述行驶数据和所述行驶目标数据，基于非线性动力学模型和非线性控制模型，计算并输出协同的电机驱动信号。Based on the driving data and the driving target data, a coordinated motor driving signal is calculated and output based on the nonlinear dynamic model and the nonlinear control model.

根据所述行驶目标数据，计算得到驾驶人的意愿路径；其中，所述行驶目标数据包括驾驶人输入的方向盘信息、刹车踏板信息和油门踏板信息；Calculating a driver's willing path according to the driving target data; wherein the driving target data includes steering wheel information input by the driver, brake pedal information, and accelerator pedal information;

根据所述传感器子***采集的行驶数据、以及所述意愿路径，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。The control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output according to the driving data collected by the sensor subsystem and the willing path.

根据所述行驶目标数据以及所述传感器子***采集的行驶数据，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。Based on the travel target data and the travel data collected by the sensor subsystem, control signals for the turn motor driver, the front wheel motor driver, and the two brake drivers are calculated and output.

优选地，所述电机驱动子***用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出时，具体用于：Preferably, the motor drive subsystem is configured to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, specifically for:

所述转弯电机驱动器根据所述协同的电机驱动信号中的转弯驱动信号，控制转弯电机的力矩输出；The turning motor driver controls a torque output of the turning motor according to a turning driving signal in the coordinated motor driving signal;

所述前轮电机驱动器根据所述协同的电机驱动信号中的前轮驱动信号，控制前轮驱动电机的力矩输出；The front wheel motor driver controls a torque output of the front wheel drive motor according to a front wheel drive signal in the coordinated motor drive signal;

两个所述刹车驱动器，用于根据所述协同的电机驱动信号中的刹车驱动信号，控制两个刹车电机的力矩输出。Two of the brake drivers are configured to control the torque output of the two brake motors according to the brake drive signals in the coordinated motor drive signals.

一种二轮单轨车辆平衡的控制方法，应用于二轮单轨车辆，包括：A two-wheel monorail vehicle balance control method for a two-wheel monorail vehicle, comprising:

传感器子***采集二轮单轨车辆的行驶数据和行驶目标数据；The sensor subsystem collects driving data and driving target data of the two-wheel monorail vehicle;

嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号；The embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data;

电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。The motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.

优选地，所述嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号，包括：Preferably, the embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data, including:

优选地，所述电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，包括：Preferably, the motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, including:

相较于现有技术，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

本发明提供了一种二轮单轨车辆及其平衡的控制方法，本发明中嵌入式电脑根据所述行驶数据和行驶目标数据，计算并输出协同的电机驱动信号后，所述电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。这种方法不对车辆的状态进行限定，即车辆无论是处于停止状态，行驶状态，或者是停车状态和行驶状态之间的相互切换状态时，均能够保证车辆动态平衡行驶，解决了现有的自动控制平衡的二轮单轨车辆，在车辆从停车状态到行驶状态或者是从行驶状态到停车状态时，不能自动保持动态平衡的问题。The present invention provides a two-wheel monorail vehicle and a balanced control method thereof. After the embedded computer calculates and outputs a coordinated motor drive signal according to the travel data and the travel target data, the motor drive subsystem is Each of the coordinated motor drive signals controls the torque output of the respective motor such that the two-wheel monorail vehicle achieves dynamic balance and travels in accordance with the travel target data. This method does not limit the state of the vehicle, that is, the vehicle can ensure the dynamic balance of the vehicle when it is in a stopped state, a running state, or a switching state between the parking state and the driving state, and the existing automatic is solved. The two-wheel monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the running state or from the running state to the parking state.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

图1为本发明提供的一种二轮单轨车辆的结构示意图；1 is a schematic structural view of a two-wheel monorail vehicle provided by the present invention;

图2为本发明提供的一种二轮单轨车辆的部分结构示意图；2 is a partial structural schematic view of a two-wheel monorail vehicle provided by the present invention;

图3为本发明提供的一种嵌入式电脑执行的方法的方法流程图；3 is a flow chart of a method for executing a method performed by an embedded computer according to the present invention;

图4为本发明提供的一种二轮单轨车辆平衡的控制方法的方法流程图。4 is a flow chart of a method for controlling a balance of a two-wheel monorail vehicle according to the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

本发明实施例提供了一种二轮单轨车辆，其中，二轮单轨车辆包括但不限于自行车、摩托车等两个车轮的车辆。为了本领域的技术人员能够更加清楚的了解二轮单轨车辆的结构，现结合图1对一种二轮单轨车辆的结构进行介绍。需要说明的是，二轮单轨车辆的结构并不仅限于图1中的结构，还可以是其他的结构。另外，图1中后轮也安装了后轮驱动电机，后轮也可以不安装后轮驱动电机。Embodiments of the present invention provide a two-wheel monorail vehicle, wherein the two-wheel monorail vehicle includes, but is not limited to, a vehicle of two wheels such as a bicycle or a motorcycle. In order to understand the structure of the two-wheel monorail vehicle more clearly by those skilled in the art, the structure of a two-wheel monorail vehicle will now be described in conjunction with FIG. It should be noted that the structure of the two-wheel monorail vehicle is not limited to the structure in FIG. 1, and may be other structures. In addition, the rear wheel is also equipped with a rear wheel drive motor in Fig. 1, and the rear wheel can also be mounted without a rear wheel drive motor.

图1中，二轮单轨车辆包括：In Figure 1, the two-wheel monorail vehicle includes:

带前轮驱动电机和刹车驱动器的前轮1、电子显示单元2、转弯电机3、电子方向盘4、单轨车辆车身5、无线通信天线6、嵌入式电脑7、惯性传感器8、导航模块9、通信模块10、后轮编码器11、带后轮驱动电机和刹车驱动器的后轮12和前轮编码器13。除了上述部件外，车辆还包括电子加速踏板，其中，电子加速踏板未在图中画出。Front wheel with front wheel drive motor and brake driver 1, electronic display unit 2, turning motor 3, electronic steering wheel 4, monorail vehicle body 5, wireless communication antenna 6, embedded computer 7, inertial sensor 8, navigation module 9, communication The module 10, the rear wheel encoder 11, the rear wheel 12 with the rear wheel drive motor and the brake drive, and the front wheel encoder 13. In addition to the above components, the vehicle includes an electronic accelerator pedal, wherein the electronic accelerator pedal is not shown in the drawing.

其中，前轮1、电子方向盘4、单轨车辆车身5和后轮12组成了车身的整体架构。电子方向盘4用于人工控制车辆行驶方向，前轮驱动电机和后轮驱动电机用于驱动车辆行驶，刹车驱动器用于在刹车时，使车辆尽快停止，转弯电机3用于在车辆转弯时，驱动车辆转弯。Among them, the front wheel 1, the electronic steering wheel 4, the monorail vehicle body 5 and the rear wheel 12 constitute the overall structure of the vehicle body. The electronic steering wheel 4 is used for manually controlling the traveling direction of the vehicle, the front wheel drive motor and the rear wheel drive motor are used to drive the vehicle, the brake driver is used to stop the vehicle as soon as possible during the braking, and the turning motor 3 is used to drive when the vehicle turns. The vehicle turns.

电子显示单元2包括LCD显示屏、LED图像和LED点阵显示，主要用于显示车身滚动角、转弯角等行驶数据。无线通信天线6用于发射或接收电磁波。The electronic display unit 2 includes an LCD display screen, an LED image, and an LED dot matrix display, and is mainly used to display driving data such as a body rolling angle and a turning angle. The wireless communication antenna 6 is for transmitting or receiving electromagnetic waves.

惯性传感器8用于测量车身角速度向量和车身加速度向量，前轮编码器13用于测量前轮转弯角、前轮转动角、前轮转弯角速度和前轮转动角速度。后轮编码器11用于测量后轮转弯角、后轮转动角、后轮转弯角速度和后轮转动角速度。The inertial sensor 8 is used to measure the body angular velocity vector and the body acceleration vector, and the front wheel encoder 13 is used to measure the front wheel turning angle, the front wheel turning angle, the front wheel turning angular speed, and the front wheel turning angular speed. The rear wheel encoder 11 is used to measure the rear wheel turning angle, the rear wheel turning angle, the rear wheel turning angular speed, and the rear wheel turning angular speed.

导航模块9用于实现车辆路径的导航，其中，导航模块9可以是GPS模块。通信模块10是用来与外接设备进行通信的模块，外接设备可以是服务器等设备。The navigation module 9 is used to implement navigation of the vehicle path, wherein the navigation module 9 can be a GPS module. The communication module 10 is a module for communicating with an external device, and the external device may be a device such as a server.

嵌入式电脑7是实现车辆平衡的关键部件，嵌入式电脑7输出控制信号给转弯电机和前轮驱动电机，在行驶过程中，嵌入式电脑7连续调节转弯电机的转动方向和速度以达到车辆的动态平衡；在停止状态下，嵌入式电脑7 指令转弯电机使得车辆固定于大转弯角，然后持续控制前轮驱动电机力矩的方向和力矩，达到准静态平衡。The embedded computer 7 is a key component for realizing the balance of the vehicle. The embedded computer 7 outputs a control signal to the turning motor and the front wheel drive motor. During the running, the embedded computer 7 continuously adjusts the turning direction and speed of the turning motor to reach the vehicle. Dynamic balance; in the stopped state, the embedded computer 7 commands the turning motor to fix the vehicle at a large turning angle, and then continuously controls the direction and torque of the front wheel driving motor torque to achieve quasi-static balance.

需要说明的是，二轮单轨车辆可以有几种驱动方式。最常见的二轮单轨车辆是以后轮驱动的。以汽油发动机为动力的车辆使用动力链条或者转动杆把动力带给后轮，驱动车辆向前运动。电动的单轨车辆通常使用轮毂式电机驱动车辆后轮。在崎岖山道行驶的单轨车辆也可以采取双轮驱动，减轻后轮驱动车辆容易打滑失控的概率。使用汽油发动机的双轮驱动单轨车辆机械结构比较复杂，它需要将驱动动力输送到带转弯制的前轮上。通常的方法有齿轮和链条的力学方法和液压***方法。电动的单轨车辆可以更加简单二轮驱动方法：使用前后轮两个轮毂电机，驱动前后车辆。单轨车辆也可以只使用前轮来驱动。虽然本实施例中前轮1和后轮2均带有驱动电机，属于双轮驱动方式，但是本发明提供的控制方法可以适用于控制前轮驱动、后轮驱动和双轮驱动这三种驱动模式。It should be noted that the two-wheel monorail vehicle can have several driving modes. The most common two-wheel monorail vehicles are driven by the rear wheels. A gasoline engine-powered vehicle uses a power chain or a rotating rod to bring power to the rear wheels, driving the vehicle forward. Electric monorail vehicles typically use a hub-type motor to drive the rear wheels of the vehicle. Monorail vehicles that travel on rugged mountain roads can also be powered by two-wheel drive, reducing the probability that rear-wheel-drive vehicles will slip out of control. The two-wheel-drive monorail vehicle using a gasoline engine has a complicated mechanical structure, and it needs to transmit driving power to the front wheel with a turning system. The usual methods are mechanical methods of gears and chains and hydraulic system methods. Electric monorail vehicles can be simpler two-wheel drive: use front and rear wheel hub motors to drive front and rear vehicles. Monorail vehicles can also be driven using only the front wheels. Although the front wheel 1 and the rear wheel 2 both have a drive motor in the embodiment, which belongs to the two-wheel drive mode, the control method provided by the present invention can be applied to control three types of drive: front wheel drive, rear wheel drive and two-wheel drive. mode.

此外，单轨车辆通常是利用前轮转向的。单轨车辆也可以是后轮转向。本控制方法同样适用于前轮或者后轮转向的自动平衡的单轨车辆控制中。In addition, monorail vehicles are usually steered by the front wheels. Monorail vehicles can also be rear wheel steering. This control method is equally applicable to automatic balanced monorail vehicle control for front or rear wheel steering.

本实施例中转弯电机3安装在了前轮上，此外，转弯电机3也可以安装在后轮上，但是需要注意的是，当驱动电机的数量为一个时，优选地，将转弯电机和驱动电机安装在一个轮上，但是不将转弯电机和驱动电机安装在一个轮上，也能够实现本发明中的控制方法，但是车辆的整体性能不如将转弯电机和驱动电机安装在一个轮上好。In this embodiment, the turning motor 3 is mounted on the front wheel. In addition, the turning motor 3 can also be mounted on the rear wheel, but it should be noted that when the number of driving motors is one, preferably, the turning motor and the driving are performed. The motor is mounted on one wheel, but the turning motor and the driving motor are not mounted on one wheel, and the control method in the present invention can also be realized, but the overall performance of the vehicle is not as good as that of turning the turning motor and the driving motor on one wheel.

二轮单轨车辆包括电动自行车和电动摩托车等。电动自行车和电动摩托车通常是由车身，可以转向的前叉，前轮和后轮组成。车辆是由安装在后轮或者前轮上的无刷电机驱动。车辆转弯是由驾驶人转动车把，带动前叉和前轮，改变前轮的前进方向。电脑控制的自动平衡二轮单轨车辆利用传感器，包括惯性传感器和光编码器等，测量二轮单轨车辆的行驶数据，结合驾驶人或者事先确定的道路轨迹，再利用非线性动力学模型和非线性控制模型，控制转弯电机和前轮驱动电机，带动前叉和前轮，达到车辆的动态平衡。Two-wheel monorail vehicles include electric bicycles and electric motorcycles. Electric bicycles and electric motorcycles are usually composed of a body, a front fork that can be turned, a front wheel and a rear wheel. The vehicle is driven by a brushless motor mounted on the rear or front wheels. The turning of the vehicle is caused by the driver turning the handlebar and driving the front fork and the front wheel to change the forward direction of the front wheel. Computer-controlled automatic balancing two-wheel monorail vehicles use sensors, including inertial sensors and optical encoders, to measure the driving data of two-wheel monorail vehicles, combined with the driver or a predetermined road trajectory, and then use nonlinear dynamic models and nonlinear control The model controls the turning motor and the front-wheel drive motor to drive the front fork and the front wheel to achieve dynamic balance of the vehicle.

参照图2，本发明提供的二轮单轨车辆包括传感器子***11、嵌入式电脑12和电机驱动子***13。传感器子***11、嵌入式电脑12和电机驱动子***13组成二轮单轨车辆平衡的控制***。Referring to Figure 2, a two-wheel monorail vehicle provided by the present invention includes a sensor subsystem 11, an embedded computer 12, and a motor drive subsystem 13. The sensor subsystem 11, the embedded computer 12 and the motor drive subsystem 13 form a two-wheel monorail vehicle balancing control system.

其中，电机驱动子***13包括转弯电机驱动器、前轮电机驱动器和安装在前轮和后轮上的刹车驱动器构成。其中，转弯电机驱动器安装在前轮。Among them, the motor drive subsystem 13 includes a turning motor driver, a front wheel motor driver, and a brake driver mounted on the front and rear wheels. Among them, the turning motor drive is mounted on the front wheel.

传感器子***11包括导航模块、前轮编码器、转弯光编码器和惯性传感器。The sensor subsystem 11 includes a navigation module, a front wheel encoder, a cornering optical encoder, and an inertial sensor.

嵌入式电脑12为安装有控制软件的电脑，控制软件是基于非线性动力学和非线性控制方法的软件。The embedded computer 12 is a computer with control software installed, and the control software is software based on nonlinear dynamics and nonlinear control methods.

具体的，传感器子***11，用于采集二轮单轨车辆的行驶数据和行驶目标数据；Specifically, the sensor subsystem 11 is configured to collect driving data and driving target data of the two-wheel monorail vehicle;

嵌入式电脑，用于根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号；An embedded computer for calculating and outputting a coordinated motor drive signal based on the driving data and the driving target data;

电机驱动子***，用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。The motor drive subsystem is configured to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.

具体的，行驶数据包括：Specifically, the driving data includes:

车辆位置信息、车辆速度、前轮转弯角、前轮转动角、前轮转弯角速度、前轮转动角速度、车轮转弯角和姿态角信息。Vehicle position information, vehicle speed, front wheel turning angle, front wheel turning angle, front wheel turning angular speed, front wheel turning angular speed, wheel turning angle, and attitude angle information.

其中，车辆速度是由车辆上安装的导航模块测量得到。导航模块可以是GPS模块，也可以是其他的模块。Among them, the vehicle speed is measured by a navigation module installed on the vehicle. The navigation module can be a GPS module or other modules.

前轮转弯角、前轮转动角、前轮转弯角速度和前轮转动角速度是由前轮编码器测量得到，前轮编码器可以是前轮光编码器。需要说明的是，后轮也安装有后轮编码器，设置后轮编码器的作用是测量得到后轮转弯角、后轮转动角、后轮转弯角速度和后轮转动角速度，后轮编码器测量的数据是为了验证前轮编码器测量得到的数据是否正确，以免前轮编码器出现故障时，测量数据出错。The front wheel turning angle, the front wheel turning angle, the front wheel turning angular speed, and the front wheel turning angular speed are measured by the front wheel encoder, and the front wheel encoder may be the front wheel optical encoder. It should be noted that the rear wheel is also equipped with a rear wheel encoder. The function of the rear wheel encoder is to measure the rear wheel turning angle, the rear wheel turning angle, the rear wheel turning angular speed and the rear wheel turning angular speed, and the rear wheel encoder measurement. The data is to verify that the data measured by the front wheel encoder is correct, so as to avoid measurement data errors when the front wheel encoder fails.

车轮转弯角是由转弯光编码器测量得到，转弯光编码器还能够测量得到车轮转弯角速度。The wheel turning angle is measured by a turning optical encoder, which also measures the wheel turning angular velocity.

姿态角信息是指车辆的偏航角、车身滚动角和俯仰角。具体的，惯性传感器测量车身角速度向量和车身加速度向量，车身角速度向量包括偏航角速度分量、滚动角速度分量和俯仰角速度分量，车身加速度分量包括偏航角加速度分量、滚动角加速度分量和俯仰角加速度分量，然后根据车身角速度向量和车身加速度向量计算得到车辆的偏航角、滚动角和俯仰角。The attitude angle information refers to the yaw angle, the vehicle rolling angle, and the pitch angle of the vehicle. Specifically, the inertial sensor measures the body angular velocity vector and the body acceleration vector, and the vehicle angular velocity vector includes a yaw angular velocity component, a rolling angular velocity component, and a pitch angular velocity component, and the vehicle body acceleration component includes a yaw angular acceleration component, a rolling angular acceleration component, and a pitch angular acceleration component. Then, the yaw angle, the rolling angle and the pitch angle of the vehicle are calculated according to the vehicle angular velocity vector and the vehicle body acceleration vector.

车辆位置信息是由导航模块测量得到的位置信息以及根据车身角速度向量和车身加速度向量计算得到的位置信息，进行综合得到的信息。The vehicle position information is position information measured by the navigation module and position information calculated based on the vehicle angular velocity vector and the vehicle body acceleration vector, and is integrated.

可选的，在本实施例的基础上，嵌入式电脑用于根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：Optionally, on the basis of the embodiment, when the embedded computer is used to calculate and output the coordinated motor driving signal according to the driving data and the driving target data, specifically:

根据行驶数据和行驶目标数据，基于非线性动力学模型和非线性控制模型，计算并输出协同的电机驱动信号。Based on the driving data and the driving target data, a coordinated motor driving signal is calculated and output based on the nonlinear dynamic model and the nonlinear control model.

其中，协同的电机驱动信号中包括前轮驱动信号、刹车驱动信号和转弯驱动信号。The coordinated motor drive signal includes a front wheel drive signal, a brake drive signal, and a turn drive signal.

可选的，在本实施例的基础上，电机驱动子***用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出时，具体用于：Optionally, on the basis of the embodiment, when the motor drive subsystem is configured to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, specifically:

转弯电机驱动器根据协同的电机驱动信号中的转弯驱动信号，控制转弯电机的力矩输出；The turning motor driver controls the torque output of the turning motor according to the turning driving signal in the coordinated motor driving signal;

前轮电机驱动器根据协同的电机驱动信号中的前轮驱动信号，控制前轮驱动电机的力矩输出；The front wheel motor driver controls the torque output of the front wheel drive motor according to the front wheel drive signal in the coordinated motor drive signal;

两个刹车驱动器，用于根据协同的电机驱动信号中的刹车驱动信号，控制两个刹车电机的力矩输出。Two brake drivers for controlling the torque output of the two brake motors based on the brake drive signals in the coordinated motor drive signals.

本实施例中，嵌入式电脑根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号后，电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。这种方法不对车辆的状态进行限定，即车辆无论是处于停止状态，行驶状态，或者是停车状态和行驶状态之间的相互切换状态时，均能够保证车辆动态平衡行驶，解决了现有的自动控制平衡的二轮单轨车辆，在车辆从停车状态到行驶状态或者是从行驶状态到停车状态时，不能自动保持动态平衡的问题。In this embodiment, after the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, the motor driving subsystem controls the torque output of the corresponding motor according to each of the coordinated motor driving signals, so that The two-wheel monorail vehicle achieves dynamic balance and travels according to the driving target data. This method does not limit the state of the vehicle, that is, the vehicle can ensure the dynamic balance of the vehicle when it is in a stopped state, a running state, or a switching state between the parking state and the driving state, and the existing automatic is solved. The two-wheel monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the running state or from the running state to the parking state.

为了本领域的技术人员能够进一步理解非线性动力学模型和非线性控制模型，现对非线性动力学模型和非线性控制模型进行解释说明。In order to further understand the nonlinear dynamic model and the nonlinear control model by those skilled in the art, the nonlinear dynamic model and the nonlinear control model are now explained.

具体的，自行车和忽略了前叉弹簧，后轮减震的摩托车满足三个自由度的非线性欠驱动机械手方程：Specifically, the bicycle and the front fork spring are neglected, and the rear wheel shock absorbing motorcycle satisfies the three degrees of freedom of the nonlinear underactuated manipulator equation:

其中，q为车辆状态矢量，M是3x3质量矩阵，C是3x3科里奥利/离心力项，G是重力项，K是力矩耦合矩阵，τ是前轮驱动电机、刹车电机和转弯电机的力矩矢量。它们的表达式为：Where q is the vehicle state vector, M is the 3x3 mass matrix, C is the 3x3 Coriolis/centrifugal force term, G is the gravity term, K is the torque coupling matrix, and τ is the torque of the front wheel drive motor, brake motor and turning motor Vector. Their expressions are:

车辆状态由q＝(q ₁，q ₂，q ₃) ^T代表，它们分别是车身滚动角，车轮转弯角和前轮转动角。矩阵M，C，G，K的矩阵元是车身滚动角和车轮转弯角的已知解析函数。它们还和车辆的几何和动力学参数有关，τ＝(τ ₁，τ ₂，τ ₃) ^T分别为前轮驱动和刹车力矩、转弯电机力矩、后轮驱动和刹车力矩。 The vehicle state is represented by q = (q ₁ , q ₂ , q ₃ ) ^T , which are the body roll angle, the wheel turning angle and the front wheel turning angle, respectively. The matrix elements of the matrices M, C, G, K are known analytical functions of the body roll angle and the wheel turn angle. They are also related to the geometry and dynamics of the vehicle. τ = (τ ₁ , τ ₂ , τ ₃ ) ^T are front wheel drive and brake torque, turning motor torque, rear wheel drive and brake torque.

由于K的矩阵的第一行为0，力矩τ对车身滚动角方程没有任何影响，所以车身滚动角是欠驱动的。非线性动力学方程(1)适用于任何前轮转向，前轮或者后轮驱动，以及前后轮同时驱动的二轮单轨车辆。它同时实用于处于行驶或者处于停车状态的车辆。因为前轮的角速度

可以是正的或者是负的，它也没有限制车辆是在前进或者是后退。二轮单轨车辆是一个欠驱动***。车辆的三个自由度中，只有车轮转弯角和前轮转动角两个自由度是主动控制的。车身滚动角，也叫车身倾斜角，是没有驱动机制的。非线性欠驱动***控制方法有很多，最主要的非线性最优控制(Nonlinear Optimal Control)、部分反馈线性化(partial feedback linearization)、神经网络控制(Neural Network Control)，基于能量的控制(Energy Based Control) 和滑模控制(Sliding Mode Control)。大部分现代控制方法需要精确的车辆动力学建模。 Since the first behavior of the matrix of K is zero, the moment τ has no effect on the roll angle equation of the body, so the roll angle of the body is underactuated. The nonlinear dynamic equation (1) is applicable to any front wheel steering, front or rear wheel drive, and two-wheel monorail vehicles that are driven simultaneously by the front and rear wheels. It is also used for vehicles that are driving or parked. Because of the angular velocity of the front wheel

It can be positive or negative, nor does it restrict the vehicle from moving forward or backward. A two-wheel monorail vehicle is an underactuated system. Of the three degrees of freedom of the vehicle, only the two degrees of freedom of the wheel turning angle and the front wheel turning angle are actively controlled. The body roll angle, also called the body tilt angle, has no drive mechanism. There are many control methods for nonlinear underactuated systems, the most important of which are nonlinear optimal control, partial feedback linearization, neural network control, and energy based control. Control) and Sliding Mode Control. Most modern control methods require precise vehicle dynamics modeling.

这里我们使用非线性最优控制来说明本发明的方法。非线性最优控制是上世纪60-70年代发展成熟的控制方法，最早用于火箭飞行控制。给出***的花费函数(cost function)，非线性最优控制计算出最优控制量u*(t)和状态x*(t)随时间的推移，在满足非线性动力学方程(1)的约束下，使得花费函数最小：Here we use nonlinear optimal control to illustrate the method of the present invention. Nonlinear optimal control is a mature control method in the 1960s and 1970s. It was first used in rocket flight control. Given the cost function of the system, the nonlinear optimal control calculates the optimal control quantity u*(t) and the state x*(t) over time, satisfying the nonlinear dynamic equation (1). Under the constraint, the cost function is minimized:

其中，J为***花销。x(t ₀)为车辆在起点位置时的状态，x(t _f)为车辆在终点位置时的状态，t ₀为起点时间，t _f为终点时间。其中，状态是指行驶数据。 Among them, J is the system cost. x(t ₀ ) is the state of the vehicle at the starting position, x(t _f ) is the state of the vehicle at the end position, t ₀ is the starting time, and t _f is the end time. Among them, the status refers to driving data.

并满足一阶动力学方程约束And satisfy the first-order dynamic equation constraints

路径约束Path constraint

p[x(t)，u(t)，t]≥0， (7)p[x(t),u(t),t]≥0, (7)

其中，函数P代表路径约束函数。Among them, the function P represents a path constraint function.

和边条件约束And edge condition constraints

b[x(t ₀)，t ₀，x(t _f)，t _f]＝0. (8) b[x(t ₀ ), t ₀ ,x(t _f ),t _f ]=0. (8)

其中，函数b代表边条件约束函数。Among them, the function b represents the edge condition constraint function.

利用数值迭代方法，可以计算出非线性方程的解：最优控制量u*(t)，就是本***的前轮驱动和刹车力矩、转弯电机力矩、后轮驱动和刹车力矩。车辆状态x*(t)，就是车辆位置，车身滚动角、车轮转弯角、前轮转动角分别随时间的函数：Using the numerical iterative method, the solution of the nonlinear equation can be calculated: the optimal control quantity u*(t) is the front wheel drive and braking torque, the turning motor torque, the rear wheel drive and the braking torque of the system. Vehicle state x*(t) is the vehicle position, body roll angle, wheel turning angle, and front wheel rotation angle as a function of time:

u＝u*(t) (9)u=u*(t) (9)

x＝x*(t) (10)x=x*(t) (10)

目前高效率的数值方法有伪频谱方法(pseudospectrum)求解非线性最优控制。非线性最优控制的解和目前的车辆位置，车身滚动角、车轮转弯角、前轮转动角有关，也和车辆需要达到的位置、车身滚动角、车轮转弯角、前轮转动角有关。最优控制方法根据车辆的目前状态和用户的要求，计算出车辆的最优控制量(9)和车辆的最优状态(10)。这个过程叫前馈。它是没有反馈的。At present, the high-efficiency numerical method has a pseudo spectrum method (pseudospectrum) to solve nonlinear optimal control. The solution of the nonlinear optimal control is related to the current vehicle position, the body rolling angle, the wheel turning angle, the front wheel turning angle, and also the position that the vehicle needs to reach, the body rolling angle, the wheel turning angle, and the front wheel turning angle. The optimal control method calculates the optimal control amount (9) of the vehicle and the optimal state (10) of the vehicle according to the current state of the vehicle and the requirements of the user. This process is called feedforward. It has no feedback.

实际上车辆的建模误差、外部的扰动以及车辆参数的变化都会使得车辆偏移最优状态。本发明设计了线性反馈***，消除误差和扰动，增加了***的稳定性。假设在t时刻，车辆实际的状态为x(t)，它与最优控制状态之差为dx：In fact, vehicle modeling errors, external disturbances, and changes in vehicle parameters can cause the vehicle to shift optimally. The invention designs a linear feedback system to eliminate errors and disturbances and increase the stability of the system. Suppose that at time t, the actual state of the vehicle is x(t), and the difference between it and the optimal control state is dx:

dx(t)＝x(t)-x ^*(t). (11) Dx(t)=x(t)-x ^* (t). (11)

通常车辆状态和最优控制的车辆状态差别很小，dx为小量、最优控制量修正du也是小量。可以证明dx和du满足线性二次型控制：Usually, the difference between the vehicle state and the optimally controlled vehicle state is small, dx is a small amount, and the optimal control amount correction du is also a small amount. It can be proved that dx and du satisfy the linear quadratic control:

其中，Q、R为权重因子，为定值，S( _f)为终点条件，如位置、车身滚动角、车轮转弯角、前轮转动角等。 Among them, Q and R are weighting factors, which are fixed values, and S( _f ) is the end condition, such as position, body roll angle, wheel turning angle, front wheel rotation angle and so on.

动力学方程约束也是在最优控制解附近的线性移展开：The dynamic equation constraint is also a linear shift expansion around the optimal control solution:

A、B矩阵为非线性动力学方程在最优解x ^*(t)附近的泰勒展开。最优反馈控制和车辆状态有关： The A and B matrices are Taylor expansions of the nonlinear dynamic equation near the optimal solution x ^* (t). Optimal feedback control is related to vehicle status:

du(t)＝-K(t)·dx(t)Du(t)=-K(t)·dx(t)

其中K矩阵为反馈矩阵，K(t)＝R ^-1B ^TS(t)，S(t)是微分黎卡提方程(differential Riccati equation)的解： The K matrix is the feedback matrix, K(t)=R ^-1 B ^T S(t), and S(t) is the solution of the differential Riccati equation:

黎卡提方程是从未来解向当前时间，所以它的的初条件是在最终时间确定的：The Riccati equation is resolved from the future to the current time, so its initial condition is determined at the final time:

S(t _f)＝S _f (15) S(t _f )=S _f (15)

通过上述计算，就可以计算出最优控制量u*(t)，就是本***的前轮驱动和刹车力矩、转弯电机力矩和后轮驱动和刹车力矩，通过前轮驱动和刹车力矩、转弯电机力矩和后轮驱动和刹车力矩对车辆进行控制即可。Through the above calculation, the optimal control amount u*(t) can be calculated, which is the front wheel drive and brake torque of the system, the turning motor torque and the rear wheel drive and brake torque, through the front wheel drive and brake torque, and the turning motor Torque and rear wheel drive and brake torque control the vehicle.

这样，控制***可以拒绝扰动等偏差，使车辆***稳定，同时预期达到用户指定的位置。In this way, the control system can reject deviations such as disturbances, stabilize the vehicle system, and expect to reach a user-specified location.

本发明可以用来实现二轮单轨车辆的自动驾驶。也可以实现人工驾驶二轮单轨车辆。在自动驾驶模式下，车辆的轨迹是由导航模块，摄像头和通信模块决定的，其中，导航模块，摄像头和通信模块属于传感器子***中的组成部分。而在人工驾驶模式下，车辆的轨迹则由驾驶人决定。驾驶人可以使用电子方向盘、电子刹车踏板和电子加速踏板输入期望的车辆行驶方向和速度，嵌入式电脑根据驾驶人的输入和传感器测量值，计算出车辆的轨迹和控制输出，控制驱动电机和转弯电机，在单轨车辆行驶和停止状态下，达到车辆的平衡。The invention can be used to achieve automatic driving of a two-wheel monorail vehicle. It is also possible to manually drive a two-wheel monorail vehicle. In the automatic driving mode, the trajectory of the vehicle is determined by the navigation module, the camera and the communication module, wherein the navigation module, the camera and the communication module are part of the sensor subsystem. In the manual driving mode, the trajectory of the vehicle is determined by the driver. The driver can use the electronic steering wheel, electronic brake pedal and electronic accelerator pedal to input the desired direction and speed of the vehicle. The embedded computer calculates the vehicle's trajectory and control output based on the driver's input and sensor measurements, and controls the drive motor and turns. The motor reaches the balance of the vehicle when the monorail vehicle is running and stopped.

需要说明的是，本发明和目前常用的单轨车辆控制方法有本质的区别：It should be noted that the present invention is essentially different from the currently used monorail vehicle control methods:

现有技术的控制方法限定一些自由度、计算出一些控制信号。本发明使用动力学和现代控制方法，在不限制车辆的任何自由度情况下，计算出协同控制输出。本***的控制信号u*(t)和du(t)，同时具有前轮驱动电机和刹车的控制信号、也具有转弯电机的控制信号、后轮驱动电机和刹车的控制信号。这些信号同时共同作用的，使得车辆平衡稳定地达到用户需要的状态和目的地。Prior art control methods define some degrees of freedom and calculate some control signals. The present invention uses dynamics and modern control methods to calculate a coordinated control output without limiting any degrees of freedom of the vehicle. The control signals u*(t) and du(t) of the system have control signals for front-wheel drive motors and brakes, control signals for turning motors, and control signals for rear-wheel drive motors and brakes. These signals work together at the same time, so that the vehicle balance stably reaches the state and destination desired by the user.

可选的，在上述任一实施例的基础上，嵌入式电脑用于根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：Optionally, on the basis of any of the foregoing embodiments, the embedded computer is configured to: when calculating and outputting the coordinated motor driving signal according to the driving data and the driving target data, specifically:

S11、根据行驶目标数据，计算得到驾驶人的意愿路径；S11. Calculate a driver's willing path according to the driving target data;

其中，行驶目标数据包括驾驶人输入的方向盘信息、刹车踏板信息和油门踏板信息。The driving target data includes steering wheel information input by the driver, brake pedal information, and accelerator pedal information.

具体的，根据方向盘信息、刹车踏板信息和油门踏板信息，嵌入式电脑能够推测出车辆的驾驶人的意愿路径，即能够推测出用户的下一行驶位置。其中，意愿路径可以是下一10s所行驶的路径。Specifically, based on the steering wheel information, the brake pedal information, and the accelerator pedal information, the embedded computer can estimate the driver's willing path of the vehicle, that is, the user's next travel position can be estimated. Wherein, the willing path may be the path traveled for the next 10s.

本实施例适用于人工驾驶二轮单轨车辆，人工驾驶时，人工会控制电子刹车踏板、电子加速踏板和电子方向盘。嵌入式电脑能够接收到人工输入的电子刹车踏板的深度值、电子加速踏板的深度值和电子方向盘的转动值。This embodiment is suitable for a manual driving two-wheel monorail vehicle. When driving manually, the artificial brake pedal, the electronic accelerator pedal and the electronic steering wheel are manually controlled. The embedded computer can receive the depth value of the manually input electronic brake pedal, the depth value of the electronic accelerator pedal, and the rotation value of the electronic steering wheel.

S12、根据传感器子***采集的行驶数据、以及意愿路径，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。S12. Calculate and output control signals of the turning motor driver, the front wheel motor driver, and the two brake drivers according to the driving data collected by the sensor subsystem and the willing path.

具体的，将行驶数据、以及意愿路径代入到非线性动力学模型和非线性控制模型，即可计算出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号，此外，还可以计算到车身滚动角、车身偏航角、前轮转弯角的随时间变化的曲线，其中，转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号也为随时间变化的曲线。Specifically, the driving data and the willing path are substituted into the nonlinear dynamic model and the nonlinear control model, and the control signals of the turning motor driver, the front wheel motor driver, and the two brake drivers can be calculated, and in addition, The time-varying curve of the body roll angle, the body yaw angle, and the front wheel turning angle, wherein the control signals of the turning motor driver, the front wheel motor driver, and the two brake drivers are also time-varying curves.

其中，本实施例中，意愿路径只是当前时间的下一个预设时间内的意愿路径，其中，预设时间可以是10s，具体的，假设车辆从起始地A行驶到目的地B，此时，如果计算出整个路程的意愿路径，由于车辆在整个行驶路程中可能会遇到石头等障碍物或者其他路况，进而就导致车辆不能按照意愿路径进行行驶，此时得到的意愿路径就不再有意义，需要重新计算得到新的意愿路径，所以计算出整个路程的意愿路径是不可取的，因此，本实施例采用仅计算10s的意愿路径，当这个10s的意愿路径行走完时，再计算下一个10s的意愿路径。In this embodiment, the willing path is only the willing path of the next preset time of the current time, wherein the preset time may be 10s, specifically, the vehicle is assumed to travel from the starting place A to the destination B. If the willing path of the whole journey is calculated, because the vehicle may encounter obstacles such as stones or other road conditions throughout the travel route, the vehicle may not be able to travel according to the willing path, and the willing path obtained at this time no longer exists. The meaning needs to be recalculated to obtain a new willing path. Therefore, it is not advisable to calculate the willing path of the whole journey. Therefore, this embodiment adopts a willing path of only 10s. When the 10s willing path is completed, the calculation is performed. A 10s willing path.

需要说明的是，计算得到转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号后，由于车辆的实际运行状态与行驶目标数据是有差距的，如行驶目标数据中的转弯角为30度，而车辆的实际运行状态信息中的转弯角为28度，由于行驶目标数据中的数值是车辆在保持平衡下的最优的行驶状态，即需要对二轮单轨车辆的行驶数据进行修正。It should be noted that after calculating the control signals of the turning motor driver, the front wheel motor driver and the two brake drivers, there is a gap between the actual running state of the vehicle and the driving target data, such as the turning angle in the driving target data is 30. Degree, and the turning angle in the actual running state information of the vehicle is 28 degrees. Since the value in the driving target data is the optimal driving state in which the vehicle is under balance, it is necessary to correct the driving data of the two-wheel monorail vehicle.

具体的修正过程包括：The specific correction process includes:

1)将意愿路径和行驶数据代入预设的轨迹偏差修正公式，计算得到车辆的转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号修正值。1) Substituting the willing path and the driving data into a preset trajectory deviation correction formula, and calculating the correction value of the control signal of the turning motor driver, the front wheel motor driver and the two brake drivers of the vehicle.

具体的，将意愿路径和行驶数据代入预设的轨迹偏差修正公式，其中，轨迹偏差修正公式为上述的公式11-15，结合轨迹偏差修正公式、非线性动力学模型和非线性控制模型，就可以对计算得到转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号修正值。Specifically, the intention path and the driving data are substituted into a preset trajectory deviation correction formula, wherein the trajectory deviation correction formula is the above formula 11-15, combined with the trajectory deviation correction formula, the nonlinear dynamic model and the nonlinear control model, The control signal correction values for the cornering motor driver, the front wheel motor driver, and the two brake drivers can be calculated.

需要说明的是，虽然按照意愿路径进行控制，但是由于车辆受到外界环境的影响，如遇到石头等障碍物，或者遇到大风等情况，会使车辆的行驶状态改变，进而需要对车辆的行驶状态进行修正。It should be noted that although the control is performed according to the willingness path, since the vehicle is affected by the external environment, such as encountering an obstacle such as a stone or encountering a strong wind, the driving state of the vehicle is changed, and thus the driving of the vehicle is required. The status is corrected.

2)按照转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号修正值，调整转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的输出信号，以使车辆按照意愿路径动态平衡行驶。2) According to the control signal correction value of the turning motor driver, the front wheel motor driver and the two brake drivers, the output signals of the turning motor driver, the front wheel motor driver and the two brake drivers are adjusted to make the vehicle dynamically balance the driving according to the intended path.

得到转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号修正值后，将转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的输出信号调节到相应的控制信号修正值，即能够实现将车辆按照行驶目标数据动态平衡行驶。After obtaining the control signal correction values of the turning motor driver, the front wheel motor driver and the two brake drivers, the output signals of the turning motor driver, the front wheel motor driver and the two brake drivers are adjusted to the corresponding control signal correction values, that is, The vehicle is dynamically balanced according to the driving target data.

本实施例中，提供了一种人工驾驶二轮单轨车辆的控制方式，进而能够按照本方式对二轮单轨车辆进行控制，以达到动态平衡。In this embodiment, a control mode of a manually driven two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to the present mode to achieve dynamic balance.

可选的，在图2对应的实施例的基础上，嵌入式电脑用于根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：Optionally, on the basis of the embodiment corresponding to FIG. 2, the embedded computer is configured to calculate and output a coordinated motor driving signal according to the driving data and the driving target data, specifically for:

根据行驶目标数据以及传感器子***采集的行驶数据，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。Based on the driving target data and the driving data collected by the sensor subsystem, the control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

具体的，本发明既适用于自动驾驶二轮单轨车辆，也适用于人工驾驶二轮单轨车辆。本实施例中介绍的是将本发明应用于自动驾驶二轮单轨车辆。Specifically, the present invention is applicable to both self-driving two-wheel monorail vehicles and manual driving two-wheel monorail vehicles. It is described in the present embodiment that the present invention is applied to an automatic driving two-wheel monorail vehicle.

行驶目标数据是外接设备输入的，其中，行驶目标数据可以是10s的一段路程的行驶目标数据。The driving target data is input by the external device, wherein the driving target data may be driving target data of a distance of 10s.

然后，将行驶目标数据以及传感器子***采集的行驶数据代入到非线性动力学模型和非线性控制模型中，计算得到转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。此外，还可以计算到车身滚动角、车身偏航角、前轮转弯角的变化曲线，其中，转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号也为变化的曲线。Then, the driving target data and the driving data collected by the sensor subsystem are substituted into the nonlinear dynamic model and the nonlinear control model, and the control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated. In addition, a curve of the body rolling angle, the vehicle yaw angle, and the front wheel turning angle can be calculated, wherein the control signals of the turning motor driver, the front wheel motor driver, and the two brake drivers are also varying curves.

需要说明的是，本实施例中，也需要对转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号进行修正，具体修正过程参照人工驾驶二轮单轨车辆中的修正过程，在此不再赘述。It should be noted that, in this embodiment, the control signals of the turning motor driver, the front wheel motor driver, and the two brake drivers are also required to be corrected. The specific correction process refers to the correction process in the manual driving two-wheel monorail vehicle. Let me repeat.

本实施例中，提供了一种自动驾驶二轮单轨车辆的控制方式，进而能够按照本方式对二轮单轨车辆进行控制，以达到动态平衡。In this embodiment, a control method for automatically driving a two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to the present manner to achieve dynamic balance.

本发明中，车辆在非零速度行驶时，本控制***自动加强车辆转弯电机力矩τ ₂的控制，使得前轮或者后轮车轮转弯角可以有效地调节车身重心相对前后轮横向位置。在正常行驶时，可以实现有效实现车辆的稳定平衡。 In the present invention, when the vehicle is traveling at a non-zero speed, the control system automatically enhances the control of the turning motor torque τ ₂ of the vehicle, so that the front wheel or the rear wheel turning angle can effectively adjust the lateral position of the center of gravity of the vehicle body relative to the front and rear wheels. In normal driving, a stable balance of the vehicle can be effectively achieved.

在车辆处于低速度或者是停止不动时，车辆前轮或者后轮车轮转弯角不能调节车辆重心相对位置。但是后轮驱动时，在固定的大车轮转弯角下，前后移动车辆可以调节车辆重心相当于车轮支撑点的相对位置。本发明的控制***自动加强对前轮或者后轮的驱动电机力矩控制，调节的前轮和/或后轮驱动电机力矩τ ₁，τ ₃实现车辆的稳定平衡。通常车辆是在大车轮转弯角下(比如+-45度以上，甚至+-90度)，车辆前轮或者后轮驱动电机快速前后微小调节车辆的位置。如果是前轮转向的单轨车辆，在前轮驱动电机力矩τ ₁的控制下，车辆可以达到稳定平衡。本发明的非线性动力学模型计算表明，当车轮转弯角等于90度时，K ₃₃＝0。这是因为车轮转弯角在90度时，如果前轮不打滑，后轮是不能驱动车辆前进的，因而不能用来控制车辆的平衡。不管使用前轮或者后轮来控制车辆平衡，嵌入式电脑必须可以指令驱动电机正向和反向的快速切换。这个指令是在非零速度行驶的单轨车辆自动控制中没有的。如果车辆是前轮驱动或者前后轮同时驱动，静态平衡可以更加有效：电脑控制的自动平衡***可以把车轮转弯角固定在90度或者是-90度，根据传感器测量的信息和控制算法，快速调节前轮驱动电机，使得车身做微小的左右移动，达到自动平衡的目的。 When the vehicle is at a low speed or is stopped, the front or rear wheel turning angle of the vehicle cannot adjust the relative position of the center of gravity of the vehicle. However, in the rear wheel drive, under a fixed large wheel turning angle, moving the vehicle forward and backward can adjust the relative position of the vehicle's center of gravity equivalent to the wheel support point. The control system of the present invention automatically enhances the torque control of the drive motor of the front or rear wheel, and the adjusted front wheel and/or rear wheel drive motor torques τ ₁ , τ ₃ achieve a stable balance of the vehicle. Usually the vehicle is under the turning angle of the big wheel (such as +-45 degrees or even +-90 degrees), and the front or rear wheel drive motor of the vehicle quickly adjusts the position of the vehicle quickly before and after. In the case of a monorail vehicle with front wheel steering, the vehicle can achieve a stable balance under the control of the front wheel drive motor torque τ ₁ . The nonlinear dynamic model calculation of the present invention shows that K ₃₃ =0 when the wheel turning angle is equal to 90 degrees. This is because when the wheel turning angle is 90 degrees, if the front wheel does not slip, the rear wheel cannot drive the vehicle forward, and thus cannot be used to control the balance of the vehicle. Regardless of whether the front or rear wheels are used to control vehicle balance, the embedded computer must be able to command a fast switch between the forward and reverse directions of the drive motor. This command is not available in the automatic control of monorail vehicles traveling at non-zero speeds. Static balance can be more effective if the vehicle is front-wheel drive or the front and rear wheels are driven at the same time: the computer-controlled automatic balancing system can fix the wheel turning angle at 90 degrees or -90 degrees, and quickly adjust according to sensor measurement information and control algorithms. The front wheel drive motor makes the body move slightly left and right to achieve the purpose of automatic balance.

在车辆起步或者是停车时，本发明的控制方法平稳地在两个控制模式上切换。安装非线性控制模型的嵌入式电脑，只要可以控制转向电机，就可以在车辆行驶时，保持车辆平衡。同时，只要可以控制安装在前轮，或者后轮上的驱动电机，就可以在车辆停止的状态下保持车辆的稳定平衡。即使是在外界扰动的，比如阵风或者是人为推动车辆，偏离平衡状态下，嵌入式电脑依然可以调节车辆驱动电机，修正车辆的车身滚动角，把车辆带到平衡状态下。The control method of the present invention smoothly switches between the two control modes when the vehicle starts or stops. An embedded computer with a nonlinear control model can maintain the balance of the vehicle while the vehicle is running, as long as the steering motor can be controlled. At the same time, as long as the drive motor mounted on the front wheel or the rear wheel can be controlled, the stable balance of the vehicle can be maintained while the vehicle is stopped. Even if it is disturbed by the outside world, such as gusts or artificially propelled vehicles, the embedded computer can adjust the vehicle drive motor, correct the vehicle's body rolling angle, and bring the vehicle to equilibrium.

为了本领域的技术人员清楚明白的了解本发明，现以人工驾驶和自动驾驶车辆两个例子进行解释说明。The present invention will be clearly understood by those skilled in the art and will now be explained by two examples of manual driving and self-driving vehicles.

(1)人工驾驶二轮单轨车辆(1) Manually driving a two-wheel monorail vehicle

本实施例提供的二轮单轨车辆，主要有7个组成部分：斜长的车身，安装在车身前部的带转向电机的前轮，安装在车后部的带动力驱动的后轮，多个传感器(包括光编码器和惯性传感器)，电子记录仪，带控制软件的嵌入式电脑，和控制转向电机，驱动电机的输出构成。车身可以是带门，座椅的全封闭式的单元，以及车身内驾驶人电子控制输入、和显示车辆实际行驶状态信息的电子显示单元。The two-wheel monorail vehicle provided in this embodiment mainly has seven components: an obliquely long vehicle body, a front wheel with a steering motor installed at the front of the vehicle body, and a rear wheel with a power drive installed at the rear of the vehicle. Sensors (including optical encoders and inertial sensors), electronic recorders, embedded computers with control software, and outputs that control the steering motor and drive motor. The body may be a fully enclosed unit with a door, a seat, and an electronic control input for the driver in the vehicle body, and an electronic display unit that displays information on the actual driving state of the vehicle.

驾驶人可以加入车辆内部，在座椅上坐下以后，启动控制***。嵌入式电脑启动后，传感器开始采集车辆的行驶数据，驾驶人踩下电子加速踏板，嵌入式电脑根据驾驶人输入的油门和方向盘数据，计算出前轮驱动电机和转弯电机的控制信号，指令电机的转矩和转动方向，在平衡车辆的同时，达到驾驶人需要的车辆速度和车辆行驶方向。嵌入式电脑持续利用传感器采集的行驶数据和驾驶人的输入信号，重复修正车辆需要到达的状态和位置，连续调整转弯电机的力矩，让车辆稳定行驶。The driver can join the interior of the vehicle and start the control system after sitting down on the seat. After the embedded computer is started, the sensor starts to collect the driving data of the vehicle, the driver steps on the electronic accelerator pedal, and the embedded computer calculates the control signals of the front wheel drive motor and the turning motor according to the throttle and steering wheel data input by the driver, and commands the motor. The torque and direction of rotation, while balancing the vehicle, reach the speed of the vehicle and the direction of travel of the vehicle. The embedded computer continuously uses the driving data collected by the sensor and the driver's input signal to repeatedly correct the state and position that the vehicle needs to reach, and continuously adjusts the torque of the turning motor to make the vehicle run stably.

当驾驶人踩下电子刹车踏板时，嵌入式电脑及时更新车辆的状态，利用非线性动力学模型和非线性控制模型，计算出最优的前后轮刹车力矩，和转向电机力矩，在保持车辆平衡的条件下，安全快捷的减低车辆速度。当速度减低到一个阈值时，嵌入式电脑自动切换到准静态控制模式，在固定一个非0的车轮转弯角下，放松电子刹车，调节前轮驱动电机的力矩和转动方向，达到准静态平衡。这种控制方法适用于暂时停车。When the driver steps on the electronic brake pedal, the embedded computer updates the state of the vehicle in time, and uses the nonlinear dynamic model and the nonlinear control model to calculate the optimal front and rear wheel braking torque and the steering motor torque to maintain the vehicle balance. Under the conditions, safe and fast to reduce the speed of the vehicle. When the speed is reduced to a threshold, the embedded computer automatically switches to the quasi-static control mode. When a non-zero wheel turning angle is fixed, the electronic brake is relaxed, and the torque and the direction of rotation of the front wheel drive motor are adjusted to achieve a quasi-static balance. This control method is suitable for temporary parking.

当驾驶人踩下电子加速踏板后，嵌入式电脑更新车辆的状态，调节转向电机，不再调节驱动力矩的方向，增加驱动电机的正向力矩，驱动车辆前进。When the driver steps on the electronic accelerator pedal, the embedded computer updates the state of the vehicle, adjusts the steering motor, no longer adjusts the direction of the driving torque, increases the forward torque of the driving motor, and drives the vehicle forward.

驾驶人可以通过电子LCD显示屏，了解车辆的行驶状态。利用电子方向盘控制车辆的方向，利用电子刹车踏板和电子油门踏板控制车辆的速度。The driver can use the electronic LCD display to know the driving status of the vehicle. The electronic steering wheel is used to control the direction of the vehicle, and the electronic brake pedal and electronic accelerator pedal are used to control the speed of the vehicle.

(2)自动驾驶二轮单轨车辆(2) Self-driving two-wheel monorail vehicle

可以采用机器人自动驾驶二轮单轨车辆。车辆平衡的控制***主要有8个组成部分：斜长的车身，安装在车身前部的带转向电机和驱动电机的前轮，安装在车后部的没有驱动电机的后轮，通信模块，导航模块，多个传感器(包括光编码器、惯性传感器和视频采集传感器)，电子记录仪，带控制软件的嵌入式电脑，和控制转向电机，驱动电机的输出构成。斜长的车身可以运送人员或者货物。A robot can automatically drive a two-wheel monorail vehicle. The vehicle balance control system has eight main components: an obliquely long body, a front wheel with a steering motor and a drive motor mounted at the front of the vehicle, a rear wheel without a drive motor mounted at the rear of the vehicle, a communication module, and navigation. Module, multiple sensors (including optical encoder, inertial sensor and video acquisition sensor), electronic recorder, embedded computer with control software, and control steering motor, drive motor output. The slanted body can transport people or goods.

自动驾驶单轨车辆，根据用户输入信息，或者是远端自动驾驶服务器通过通信模块发来的目的地和路径信息，规划出最佳路径，车辆传感器测量车辆的行驶数据，嵌入式电脑计算出转弯电机和前轮驱动电机的控制信号，指令车辆运行。视频采集传感器提供路况3D实时信息，时刻发现规划路径上的障碍物信息。嵌入式电脑根据这些信息，重新规划路径，或者命令车辆停止运行，通信模块发送车辆和路况信息给远端自动驾驶服务器。当视频采集传感器探测到障碍物消失已经，嵌入式电脑再重新启动车辆，驶向目的地。The self-driving monorail vehicle, according to the user input information, or the destination and path information sent by the remote autopilot server through the communication module, plans the best path, the vehicle sensor measures the driving data of the vehicle, and the embedded computer calculates the turning motor And the control signal of the front wheel drive motor, instructing the vehicle to operate. The video acquisition sensor provides 3D real-time information of the road conditions, and always finds obstacle information on the planned path. Based on this information, the embedded computer re-plans the path or commands the vehicle to stop running. The communication module sends the vehicle and road condition information to the remote autopilot server. When the video capture sensor detects that the obstacle has disappeared, the embedded computer restarts the vehicle and heads to the destination.

可选的，本发明的另一实施例中提供了一种二轮单轨车辆平衡的控制方法，应用于二轮单轨车辆，参照图4，包括：Optionally, another embodiment of the present invention provides a control method for balancing two-wheel monorail vehicles, which is applied to a two-wheel monorail vehicle. Referring to FIG. 4, the method includes:

S21、传感器子***采集二轮单轨车辆的行驶数据和行驶目标数据；S21. The sensor subsystem collects driving data and driving target data of the two-wheel monorail vehicle;

S22、嵌入式电脑根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号；S22. The embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data;

S23、电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。S23. The motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.

可选的，在本实施例的基础上，嵌入式电脑根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号，包括：Optionally, on the basis of the embodiment, the embedded computer calculates and outputs the coordinated motor driving signal according to the driving data and the driving target data, including:

可选的，在本实施例的基础上，电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，包括：Optionally, on the basis of the embodiment, the motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, including:

需要说明的是，本实施例中的步骤的具体解释说明，请参照上述实施例中的相应说明。It should be noted that, for specific explanation of the steps in this embodiment, refer to the corresponding description in the above embodiment.

可选的，在上述任一控制方法的实施例的基础上，嵌入式电脑根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号，包括：Optionally, based on the embodiment of any of the foregoing control methods, the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, including:

根据行驶目标数据，计算得到驾驶人的意愿路径；其中，行驶目标数据包括驾驶人输入的方向盘信息、刹车踏板信息和油门踏板信息；Calculating a driver's willing path according to the driving target data; wherein the driving target data includes steering wheel information input by the driver, brake pedal information, and accelerator pedal information;

根据传感器子***采集的行驶数据、以及意愿路径，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。The control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output according to the driving data collected by the sensor subsystem and the willing path.

可选的，在上述图4对应的实施例的基础上，嵌入式电脑根据行驶数据和行驶目标数据，计算并输出协同的电机驱动信号，包括：Optionally, on the basis of the foregoing embodiment corresponding to FIG. 4, the embedded computer calculates and outputs the coordinated motor driving signal according to the driving data and the driving target data, including:

根据和行驶目标数据以及传感器子***采集的行驶数据，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。The control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output based on the driving target data and the driving data collected by the sensor subsystem.

对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims

一种二轮单轨车辆，其特征在于，包括传感器子***、嵌入式电脑和电机驱动子***；其中，所述电机驱动子***包括转弯电机驱动器、前轮电机驱动器和安装在前轮和后轮上的刹车驱动器构成；A two-wheel monorail vehicle, comprising: a sensor subsystem, an embedded computer, and a motor drive subsystem; wherein the motor drive subsystem includes a turn motor driver, a front wheel motor driver, and a front wheel and a rear wheel The brake driver is configured;

所述传感器子***，用于采集二轮单轨车辆的行驶数据和行驶目标数据；The sensor subsystem is configured to collect driving data and driving target data of a two-wheel monorail vehicle;

所述嵌入式电脑，用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号；The embedded computer is configured to calculate and output a coordinated motor drive signal according to the driving data and the driving target data;

所述电机驱动子***，用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。The motor drive subsystem is configured to control a torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.
根据权利要求1所述的二轮单轨车辆，其特征在于，所述嵌入式电脑用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：The two-wheel monorail vehicle according to claim 1, wherein the embedded computer is configured to calculate and output a coordinated motor drive signal according to the travel data and the travel target data, specifically for:

根据所述行驶数据和所述行驶目标数据，基于非线性动力学模型和非线性控制模型，计算并输出协同的电机驱动信号。Based on the driving data and the driving target data, a coordinated motor driving signal is calculated and output based on the nonlinear dynamic model and the nonlinear control model.
根据权利要求1所述的二轮单轨车辆，其特征在于，所述嵌入式电脑用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：The two-wheel monorail vehicle according to claim 1, wherein the embedded computer is configured to calculate and output a coordinated motor drive signal according to the travel data and the travel target data, specifically for:

根据所述行驶目标数据，计算得到驾驶人的意愿路径；其中，所述行驶目标数据包括驾驶人输入的方向盘信息、刹车踏板信息和油门踏板信息；Calculating a driver's willing path according to the driving target data; wherein the driving target data includes steering wheel information input by the driver, brake pedal information, and accelerator pedal information;

根据所述传感器子***采集的行驶数据、以及所述意愿路径，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。The control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output according to the driving data collected by the sensor subsystem and the willing path.
根据权利要求1所述的二轮单轨车辆，其特征在于，所述嵌入式电脑用于根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号时，具体用于：The two-wheel monorail vehicle according to claim 1, wherein the embedded computer is configured to calculate and output a coordinated motor drive signal according to the travel data and the travel target data, specifically for:

根据所述行驶目标数据以及所述传感器子***采集的行驶数据，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。Based on the travel target data and the travel data collected by the sensor subsystem, control signals for the turn motor driver, the front wheel motor driver, and the two brake drivers are calculated and output.
根据权利要求1所述的二轮单轨车辆，其特征在于，所述电机驱动子***用于根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出时，具体用于：The two-wheel monorail vehicle according to claim 1, wherein the motor drive subsystem is configured to: when each of the coordinated motor drive signals is used to control a torque output of the corresponding motor, specifically for:

所述转弯电机驱动器根据所述协同的电机驱动信号中的转弯驱动信号，控制转弯电机的力矩输出；The turning motor driver controls a torque output of the turning motor according to a turning driving signal in the coordinated motor driving signal;

所述前轮电机驱动器根据所述协同的电机驱动信号中的前轮驱动信号，控制前轮驱动电机的力矩输出；The front wheel motor driver controls a torque output of the front wheel drive motor according to a front wheel drive signal in the coordinated motor drive signal;

两个所述刹车驱动器，用于根据所述协同的电机驱动信号中的刹车驱动信号，控制两个刹车电机的力矩输出。Two of the brake drivers are configured to control the torque output of the two brake motors according to the brake drive signals in the coordinated motor drive signals.
一种二轮单轨车辆平衡的控制方法，其特征在于，应用于二轮单轨车辆，包括：A method for controlling balance of a two-wheel monorail vehicle, characterized in that it is applied to a two-wheel monorail vehicle, including:

传感器子***采集二轮单轨车辆的行驶数据和行驶目标数据；The sensor subsystem collects driving data and driving target data of the two-wheel monorail vehicle;

嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号；The embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data;

电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，使得二轮单轨车辆达到动态平衡、并按照行驶目标数据规划行驶。The motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheel monorail vehicle achieves dynamic balance and travels according to the travel target data.
根据权利要求6所述的控制方法，其特征在于，所述嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号，包括：The control method according to claim 6, wherein the embedded computer calculates and outputs a coordinated motor drive signal according to the travel data and the travel target data, including:

根据所述行驶数据和所述行驶目标数据，基于非线性动力学模型和非线性控制模型，计算并输出协同的电机驱动信号。Based on the driving data and the driving target data, a coordinated motor driving signal is calculated and output based on the nonlinear dynamic model and the nonlinear control model.
根据权利要求6所述的控制方法，其特征在于，所述嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号，包括：The control method according to claim 6, wherein the embedded computer calculates and outputs a coordinated motor drive signal according to the travel data and the travel target data, including:

根据所述行驶目标数据，计算得到驾驶人的意愿路径；其中，所述行驶目标数据包括驾驶人输入的方向盘信息、刹车踏板信息和油门踏板信息；Calculating a driver's willing path according to the driving target data; wherein the driving target data includes steering wheel information input by the driver, brake pedal information, and accelerator pedal information;

根据所述传感器子***采集的行驶数据、以及所述意愿路径，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。The control signals of the turning motor driver, the front wheel motor driver and the two brake drivers are calculated and output according to the driving data collected by the sensor subsystem and the willing path.
根据权利要求6所述的控制方法，其特征在于，所述嵌入式电脑根据所述行驶数据和所述行驶目标数据，计算并输出协同的电机驱动信号，包括：The control method according to claim 6, wherein the embedded computer calculates and outputs a coordinated motor drive signal according to the travel data and the travel target data, including:

根据所述行驶目标数据以及所述传感器子***采集的行驶数据，计算并输出转弯电机驱动器、前轮电机驱动器和两个刹车驱动器的控制信号。Based on the travel target data and the travel data collected by the sensor subsystem, control signals for the turn motor driver, the front wheel motor driver, and the two brake drivers are calculated and output.
根据权利要求6所述的控制方法，其特征在于，所述电机驱动子***根据协同的电机驱动信号中的每个信号控制相应的电机的力矩输出，包括：The control method according to claim 6, wherein the motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, including:

所述转弯电机驱动器根据所述协同的电机驱动信号中的转弯驱动信号，控制转弯电机的力矩输出；The turning motor driver controls a torque output of the turning motor according to a turning driving signal in the coordinated motor driving signal;

所述前轮电机驱动器根据所述协同的电机驱动信号中的前轮驱动信号，控制前轮驱动电机的力矩输出；The front wheel motor driver controls a torque output of the front wheel drive motor according to a front wheel drive signal in the coordinated motor drive signal;

两个所述刹车驱动器，用于根据所述协同的电机驱动信号中的刹车驱动信号，控制两个刹车电机的力矩输出。Two of the brake drivers are configured to control the torque output of the two brake motors according to the brake drive signals in the coordinated motor drive signals.