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Two-wheeled self-balancing intelligent vehicle posture control method

An attitude control and self-balancing technology, applied in the field of inertial navigation

Inactive Publication Date: 2016-03-16
NANJING NORMAL UNIVERSITY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to overcome the shortcomings of the inherent properties of the existing single inertial sensor, and propose a two-wheel self-balancing intelligent vehicle attitude control method

Method used

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  • Two-wheeled self-balancing intelligent vehicle posture control method
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  • Two-wheeled self-balancing intelligent vehicle posture control method

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Embodiment

[0098] The self-designed two-wheel self-balancing intelligent vehicle platform is used to implement the attitude calculation method. Attitude control uses PD control, MPU6050 digital gyroscope and MMA7361 analog accelerometer constitute the attitude measurement system of the two-wheel self-balancing smart car and are rigidly connected with the smart car. The smart car obtains the attitude information output by the gyroscope including the drift caused by temperature, friction and unstable torque through the IIC interface, and obtains the attitude information including high-frequency dynamic acceleration noise output by the accelerometer through the ADC interface. After the above-mentioned attitude information units are normalized, apply the solution method described in claim 3 to carry out attitude calculation to obtain the optimal estimate of attitude inclination, and its initial state (when k=0) relevant parameters are as follows:

[0099] Integration time T: 0.005;

[0100]...

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Abstract

The invention discloses a two-wheeled self-balancing intelligent vehicle posture control method, which belongs to the technical field of inertial navigation. An inertial sensor gyroscope and an accelerometer in rigid connection with the intelligent vehicle are used for acquiring original posture inclination angle information, and on the basis, Kalman filtering is used for carrying out data fusion on the gyroscope and the accelerometer, and the posture inclination angle information for thoroughly describing the motion state of the intelligent vehicle can be accurately acquired. The method of the invention inhibits accelerometer interference noise caused by dynamic acceleration, overcomes the lag problem caused by time integration by the gyroscope and can be applied to posture calculation for systems such as a two-wheeled self-balancing robot and a quadrocopter. Verification is carried out via a two-wheeled self-balancing intelligent vehicle platform, and the solution accuracy and the response speed are good.

Description

technical field [0001] The invention belongs to the field of inertial navigation, in particular to a method for controlling the attitude of a two-wheel self-balancing intelligent vehicle. Background technique [0002] The two-wheel self-balancing smart car is a typical nonlinear underactuated system, which is a kind of self-balancing smart car with two coaxially connected wheels driven by two motors in a differential manner. It has the characteristics of small size and strong maneuverability, and can realize zero turning radius and the ability to pass through narrow passages. In order to realize that the two-wheeled self-balancing smart car is in a self-balancing state during motion, it is necessary to measure its attitude information in real time accurately. The inertial sensors commonly used to form the attitude measurement system are affected by factors such as temperature and dynamic acceleration noise, and often cannot measure the attitude information comprehensively a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 曹楠刘益剑杨继全李娜夏俊程继红
Owner NANJING NORMAL UNIVERSITY
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