Signal processing method for control of sporty inverted pendulum system and signal control system for intelligent self-balancing vehicle

Abstract

The invention discloses a signal processing method for motion type inverted pendulum system control. State signals of a motion type inverted pendulum system are collected and processed, the working stability and reliability of an inverted pendulum are improved through the filtering processing and signal fusing technology, and the riding and taking stability, safety and comfort of an electric tool for riding instead of walk based on the inverted pendulum system are improved. The invention discloses an intelligent self-balancing vehicle signal control system. The intelligent self-balancing vehicle signal control system comprises a power source system, a signal collecting subsystem, a signal settling subsystem, a signal processing subsystem and a control system, the combined control and information feedback capability of an electrical system and a mechanical system are improved through a filtering processing unit and a signal fusing unit, the tiny disturbance caused by rigidity interference during the motion process of a self-balancing vehicle is reduced, the intelligent degree of the whole vehicle is improved, the self-driving intelligent self-balancing vehicle can be more convenient to use, practical, comfortable and stable, the achieving cost of a software and hardware control strategy is reduced, and the cost performance of the self-balancing vehicle is improved.

Description

technical field [0001] The present invention relates to a mobile robot automatic control system and a control method thereof, in particular to an autonomous balance control system of a vehicle and a control signal processing method, which is applied in the technical field of inverted pendulum control and is suitable for the application of control strategies and the development of various This kind of control experiment platform is especially suitable for the control field of robot-assisted manned walking devices, especially for self-balancing vehicles, including two-wheeled vehicles, unicycles, large-wheeled vehicles or small-wheeled vehicles, suitable for environmental protection travel, human Transportation, outdoor fitness, beach surfing, convenient walking, personalized travel, police patrol, military mobility, mobile camera photography, mobile observation, fast arrival, small piece delivery, entertainment and leisure, ceremonial guard of honor, planetary transportation, pl...

AI Technical Summary

Problems solved by technology

The inverted pendulum used in the experiment is usually abstracted into a simple linear inverted pendulum and a simple rotating inverted pendulum in order to reduce the impact factor, which simplifies the research of the problem scientifically and provides a basis for the application of the inverted pendulum system in the device in reality. Conditions, but the inverted pendulum is a complex system after all, especially the inverted pendulum system in the moving state, the signal control related to its stability is more complicated and unstable

[0003] There are still problems in the balance control of the existing sports inverted pendulum system: the linear inverted pendulum can only move along a fixed track, and the rotating inverted pendulum can only move in a circular arc with a fixed origin. These inverted pendulum devices need to be limited. Position device and protection circuit module increase the complexity of the balance control algorithm. The range of movement of the inverted pendulum system is mainly limited to the fixed guide rail or the range of the horizontal plane, which is not in line with the actual life and engineering applications. Laboratory is used in scientific experiments and teaching, it is difficult to enter people's life and work

However, although the balance control algorithm of the conventional sports inverted pendulum system can also realize the autonomous balance of the self-balancing vehicle, there are often small disturbances, which have a bad impact on the driving comfort of the self-balancing vehicle.

The conventional mobile inverted pendulum system is not closely integrated with the actual needs and engineering applications. The control strategy basically adopts a general-purpose data processing module without a specially customized control algorithm strategy module. The redundancy or complementarity of source information in space or time cannot obviously overcome the related ambiguity caused by the inaccuracy and interference of sensor measurement. In order to fully consider the complex environment and the time-varying dynamic characteristics of the target, the inverted pendulum The self-adaptive balance of the system is compromised. The structure of the existing balance car control system is not compact enough, which increases the difficulty of equipment installation and manufacturing of the self-balancing car. Because the control strategies of the existing thinking car and self-balancing car are relatively complicated , at a considerable level of balance and stability control, additional costs need to be added, which is not conducive to industrialization and engineering manufacturing. At the same time, due to the high manufacturing cost, it is difficult to promote the market. For the purpose of achieving driving balance, purchasing general electronic components The self-balancing car assembled or slightly improved on this basis will directly affect the overall quality of the self-balancing car due to the incompatibility of the compatibility and software interface. Only by debugging and correcting on the production line, the overall system cannot Overcoming the lack of components, unable to meet the needs of the market, affecting market prospects

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