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Plane point-to-point autonomous motion control method for two-wheeled self-balancing vehicle

A self-balancing vehicle, autonomous motion technology, applied in electric controllers, bicycles, controllers with specific characteristics, etc. The effect of reducing design difficulty

Inactive Publication Date: 2020-09-25
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, as a typical underactuated, nonholonomic and strongly coupled intrinsically unstable system, the autonomous motion control of two-wheeled self-balancing vehicles is a very challenging subject.
However, the overhead crane is an intrinsically stable underactuated system with one-dimensional linear motion, and the related method is difficult to apply to the intrinsically unstable two-wheeled self-balancing vehicle system with two-dimensional planar motion

Method used

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  • Plane point-to-point autonomous motion control method for two-wheeled self-balancing vehicle
  • Plane point-to-point autonomous motion control method for two-wheeled self-balancing vehicle
  • Plane point-to-point autonomous motion control method for two-wheeled self-balancing vehicle

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Experimental program
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Effect test

Embodiment 1

[0026] The mathematical model of the two-wheeled self-balancing vehicle in this application can be expressed as:

[0027]

[0028]

[0029]

[0030] In the formula, τ ω =τ r -τ l , τ v =τ r +τ l , τ l , τ r are the output torques of the left and right motors, is the steering angle, x v is the forward displacement, m w is the wheel mass, m c is the chassis mass, r is the wheel radius, d is the wheel base, I 1 is the moment of inertia of the wheel around its diameter, I 2 is the moment of inertia of the wheel about its axle, I 3 is the moment of inertia of the chassis around the vertical line of its center of mass, I 5 is the moment of inertia of the body about the perpendicular to its center of mass.

[0031] It can be seen from formula (3) that the steering subsystem of the two-wheeled self-balancing vehicle is a full-drive system and is decoupled from the underactuated longitudinal subsystems (4) and (5), so steering control can be realized convenien...

Embodiment 2

[0092] Such as figure 1 As shown, the two-wheeled self-balancing vehicle involved in the present invention mainly includes parts such as wheels 1, chassis 2 and vehicle body 3. The state of the two-wheeled self-balancing vehicle system can be expressed by the generalized coordinate vector Indicates that x and y are the position coordinates of the balance car, is the steering angle, and θ is the inclination angle of the vehicle body. Assuming there is no slip between the wheels and the ground, the two-wheeled self-balancing vehicle satisfies the nonholonomic constraint

[0093]

[0094] The mathematical model of the two-wheeled self-balancing vehicle is derived by using the Lagrangian modeling method, as shown in equations (3), (4) and (5). Without loss of generality, let the initial position coordinates of the two-wheeled self-balancing vehicle be (0,0), and the target position coordinates be (x f ,y f ), x f >0,y f > 0, the two-wheeled self-balancing vehicle can ...

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Abstract

The invention relates to a method for controlling planar point-to-point autokinetic movement of a two-wheeled self-balancing vehicle. The method comprises pivot steering control and longitudinal straight running control. While the pivot steering control ensures in-situ upstanding of the two-wheeled self-balancing vehicle (in-situ upstanding is a special case of longitudinal straight running, and can be implemented through a longitudinal straight running control method), a steering PD controller enables the two-wheeled self-balancing vehicle to rotate in situ to a direction which is superposedto a connecting line between a current position and a target position. According to the longitudinal straight running control, on the basis of considering a movement coupling relation of the two-wheeled self-balancing vehicle, a longitudinal movement reference acceleration track is planned for the two-wheeled self-balancing vehicle, then tracking of the two-wheeled self-balancing vehicle to the planned longitudinal reference track is realized by a longitudinal PID controller, meanwhile, a steering angle is maintained at a constant reference value by the steering PD controller, therefore, the two-wheeled self-balancing vehicle arrives at the target position on the premise of ensuring stability of a vehicle body, and planar point-to-point autokinetic movement is realized.

Description

technical field [0001] The invention belongs to the control field of two-wheeled self-balancing vehicles, and specifically relates to a plane point-to-point autonomous motion control method of two-wheeled self-balancing vehicles. Background technique [0002] Two-wheeled self-balancing vehicle has important practical application value in many aspects such as leisure and entertainment, home service and exploration of unknown environment due to its compact structure, flexible movement and low energy consumption. At the same time, as a typical underactuated, nonholonomic and strongly coupled intrinsically unstable system, the autonomous motion control of two-wheeled self-balancing vehicles is a very challenging subject. [0003] The autonomous motion control of two-wheeled self-balancing vehicles mainly includes two levels: upper-level trajectory planning and lower-level trajectory tracking. Existing studies mainly focus on lower-level trajectory tracking, while there are fewe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42B62K11/00
CPCB62K11/007G05B11/42
Inventor 宁一高岳明郭烈郑仁成
Owner DALIAN UNIV OF TECH
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