Inverted pendulum of remote car with two wheels and balance control method thereof

Abstract

The inverted pendulum of the two-wheeled remote-controlled trolley and its balance control method of the present invention are characterized in that two DC motors (3) are symmetrically fixed on the car body (1), one end of the motor shaft is fixedly connected to the wheel (2), and the other end of the shaft is connected to the wheel (2). The shafts of the code discs (4) are connected; the gyroscope (7) is installed in the middle of the axis of the two wheels and the pendulum (5) is fixed; the controller (11), the remote control receiver (13), the power conversion module (15), the motor The driver (12) is welded on the circuit board (10); the circuit board (10) and the DC power supply (6) are fixed on the vehicle body (1); its balance control method includes automatically judging the zero voltage, correcting its drift, and reducing the measurement noise. to filter. The present invention avoids the control failure of the existing inverted pendulum due to mechanical transmission failure or possible errors caused by the transmission gap; it can walk back and forth, left and right, and remote control on the ground and slopes, can be used for teaching and scientific research, and can more effectively test various pendulums. Pros and cons of control algorithms.

Description

Technical field: [0001] The invention belongs to the technical field of automatic control, and in particular relates to an inverted pendulum of a two-wheeled remote control trolley, an experimental device used for scientific research or teaching, and a balance control method thereof. Background technique: [0002] Inverted pendulum is a complex, nonlinear and unstable system, and it is a typical scientific research or teaching device for modern control theory and application. The most commonly used inverted pendulum at present is the inverted pendulum (hereinafter referred to as the straight line) which is introduced in the "Journal of Southwest Institute of Technology" (2001, Vol. Inverted pendulum) and the rotating inverted pendulum that makes arc motion with fixed axis as patent application number 02138164.x introduces. Their motor bodies are all fixed. For example, the motor of the linear inverted pendulum is fixed at one end of the guide rail, and the motor shaft driv...

AI Technical Summary

Problems solved by technology

Because the controller part, the power drive part of the linear inverted pendulum are separated from the mechanical parts such as the swing rod of the trolley, while the rotary inverted pendulum puts the controller and the power drive part in a box, but they are still separated from the swing rod part. Therefore, there are common problems in these inverted pendulums: 1) The linear inverted pendulum can move within the range of the orbit at most, and the rotating inverted pendulum can move in an arc within a range of 180 degrees at most at a fixed point with the motor shaft as the center. The inverted pendulum device has to be equipped with a travel limit device and a protective circuit, which can only be limited to movement on a horizontal guide rail or a horizontal platform, or movement within a fixed point range, which is not very closely related to actual life and engineering; 2) If Limiting device failure or protection circuit device failure will cause equipment damage; 3) due to the above-mentioned common reasons, the range of motion of the existing inverted pendulum is greatly limited, and the control amount cannot be added too large, otherwise it will exceed its limit, Some algorithms cannot be realized on these inverted pendulum systems; 4) the failure of the existing inverted pendulum mechanical transmission part, or the error caused by the transmission gap will cause control failure

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