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A two-wheel self-balancing robot control system based on some known parameters

A control system, self-balancing technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of controller output influence, failure to consider, system instability, etc., to achieve the effect of maintaining stable control and improving performance

Active Publication Date: 2018-07-20
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the changes of these inherent parameters are slow, long-term accumulation will also affect the output of the controller, thereby making the system unstable. However, the controllers of the prior art do not consider the influence of the above factors on it

Method used

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  • A two-wheel self-balancing robot control system based on some known parameters
  • A two-wheel self-balancing robot control system based on some known parameters
  • A two-wheel self-balancing robot control system based on some known parameters

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Experimental program
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Embodiment Construction

[0042] see figure 1 , which is a structural block diagram of a two-wheel self-balancing robot control system based on some known parameters of the present invention, including a sensor measurement module, a main control chip, a communication module, a steering rod linear Hall sensor, a speed handle and a motor system, The main control chip is connected with the sensor measurement module, communication module, steering rod linear Hall sensor, speed handle and motor system; wherein, the sensor measurement module includes at least a gyroscope, an accelerometer and an encoder, and the encoder is installed in the motor system. Used to measure the speed of the motor, the main control chip obtains the actual speed through the encoder The gyroscope is used to collect angular velocity signals and the accelerometer is used to collect acceleration signals and geomagnetic signals, from which the main control chip obtains the actual angle θ and angular velocity Among them, the model of ...

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Abstract

The present invention disclosed a two -wheel self -balance robot control system based on some known parameters, including sensor measurement modules, main control chips, speed controllers, and motor systems., Annual Slip -Model Controller, Speed Great Mass Controller, and Speed Slip -Model Controller, of which the speed robbers controller and speed slide controller obtain the expectation angle θr according to the speed error EV;The controller adjusts the output voltage U according to the angle error Eθ.The technical solution of the present invention is used as the feedback to achieve the output control of the angle power controller, the angle sliding controller, the speed robust controller and the speed slide controllerWhen some parameters are estimated to have deviations, the controller can still maintain good performance in two rounds of self -balance robots.

Description

technical field [0001] The invention relates to the field of two-wheel self-balancing robot control, in particular to a two-wheel self-balancing robot control system based on some known parameters. Background technique [0002] The two-wheeled self-balancing robot is a self-balancing robot that uses sensors to sense its own state, and then controls the motor rotation through a control algorithm to achieve self-balancing. In recent years, with the continuous improvement of the two-wheeled self-balancing robot technology and the continuous reduction in cost, it has gradually become a means of transportation accepted by more people, making the two-wheeled self-balancing robot begin to change from the experimental research stage to a popular means of transportation. The environment and tasks are becoming more and more complex. [0003] At present, there are various types of balancing robots on the market, most of which use PID control algorithm. This algorithm collects the curr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J5/007B25J9/161B25J9/163B25J9/1651
Inventor 陈龙胡华满志红黄明马学条
Owner HANGZHOU DIANZI UNIV