Balance car control method employing fuzzy algorithm

A control method and fuzzy algorithm technology, applied in the field of vehicle engineering, can solve problems such as poor speed followability of the balance car, conflict between speed control of the balance car and upright control, fuzziness, etc., to solve the problem of weak speed followability and improve stability and the effect of robustness

Inactive Publication Date: 2018-04-20
CHANGCHUN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0004] The present invention proposes a method based on fuzzy PI to control the balance car, which solves the conflict between the speed control and upright control of the balance car, which leads to the problem that the speed followability of the balance car is not strong

Method used

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  • Balance car control method employing fuzzy algorithm
  • Balance car control method employing fuzzy algorithm
  • Balance car control method employing fuzzy algorithm

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Embodiment Construction

[0031] Combine below Figure 1 to Figure 10 The present invention is further described.

[0032] figure 1 It is the overall scheme of the balance car control system using the fuzzy PI controller, which specifically includes the following steps:

[0033] After the balance car system is powered on and running, the processor will initialize each module, including the pulse capture module for pulse accumulation, pulse output module, etc. After the module initialization is completed, read the zero bias value of the gyroscope.

[0034] Generates a one-millisecond periodic interrupt using one of the processor's timers. The task of the interrupt service routine is evenly distributed in the interrupt segment of 0-1. Therefore, the period of task execution in each interrupt segment is 2 milliseconds.

[0035] These tasks include: reading and clearing the speed counter of the balance car. Accumulate the speed of the balance car to provide the average number for the speed control of ...

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Abstract

In order to solve the problem that the speed following performance of an upright vehicle is not good due to solving the conflict between speed control and upright control of the upright vehicle, the invention provides a method for controlling an upright vehicle based on fuzzy PI. In the design of a fuzzy PI controller, the states of the upright vehicle under different working conditions are analyzed. A setting principle of fuzzy PI control parameters capable of enabling the system to obtain optimal response performance is formulated, software simulation is carried out on the upright vehicle adopting fuzzy PI control, and a real vehicle test is carried out. Test simulation results show that the upright vehicle speed following performance based on the fuzzy algorithm is good, the stability and the robustness of the system are high.

Description

technical field [0001] The invention belongs to the technical field of vehicle engineering, in particular to a control method for a balance car using a fuzzy algorithm. Background technique [0002] In recent years, as a new type of transportation, the two-wheel balance vehicle has become a hot spot in the field of design research, so it has attracted much attention. It has small size, flexible steering, simple structure, and self-balancing ability. It must have many uses in people's daily life and military affairs, and the two-wheeled self-balancing vehicle has unstable motion characteristics, so it is very important for the two-wheeled self-balancing vehicle. Balance control is of great significance. [0003] Through the mathematical modeling of the self-balancing car, the model shows that the controlled object has the characteristics of multi-variable, nonlinear, strong coupling, etc. These problems are the difficulties of self-balancing car control. Aiming at the contr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 卢晓晖朱小泉李绍松李哲李光军
Owner CHANGCHUN UNIV OF TECH
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