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Single-wheel trolley balance control system

A technology of balance control and trolley, which is applied in the direction of control drive, control device, electric vehicle, etc. It can solve the problems of single-wheel self-balancing trolley instability, multi-variable, nonlinear and other problems, to improve stability and anti-interference ability, measure The effect of high precision and stable control process

Inactive Publication Date: 2018-12-07
STATE GRID CORP OF CHINA +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The single-wheel self-balancing car is relatively unstable, and has problems such as multi-variable, nonlinear, and strong coupling during the movement process

Method used

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  • Single-wheel trolley balance control system
  • Single-wheel trolley balance control system
  • Single-wheel trolley balance control system

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Embodiment Construction

[0038] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0039] Such as figure 1 As shown, a single-wheel trolley balance control system of the present invention mainly includes: a computer, a signal transmission module, a power supply module, a DC motor drive module, a wheel motor, a main controller, an angular velocity measurement module, an acceleration measurement module, and a rotational speed measurement module , Direction measurement module.

[0040] The computer is connected to the signal transmission module and the DC motor drive module, the DC motor drive module is connected to the wheel motor, the power supply module is connected to the signal transmission module and the DC motor drive module, the signal transmission module is connected to the main controller, the angular velocity measurement module, and the acceleration measurement module , rotational speed measurement module, direction measurement mod...

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Abstract

The invention provides a single-wheel trolley balance control system and relates to the technical field of attitude control. The single-wheel trolley balance control system comprises a main controller, an angular speed measuring module, an acceleration measuring module, a rotation speed measuring module, a direction measuring module, a computer, a direct current motor driving module, a wheel motorand a power supply module, wherein the angular speed measuring module is used for measuring an angular speed signal of a trolley; the acceleration measuring module is used for measuring an acceleration signal of the trolley; the rotation speed measuring module is used for measuring a rotation speed signal of the trolley; the direction measuring module is used for measuring a direction signal of the trolley; the main controller carries out optimized filtering processing and calculation on the angular speed signal and the acceleration signal by using a kalman filtering algorithm to obtain attitude inclination angle data of the trolley; the main controller calculates the attitude inclination angle data, the speed signal and the direction signal by using a PID algorithm to obtain a PWM signal; and the computer outputs a control instruction to drive the direct current motor driving module to drive the wheel motor to operate so as to realize attitude adjustment and balance control of a single-wheel trolley. The single-wheel trolley balance control system has the advantages of small volume, simple control process, easy realization and high measuring accuracy.

Description

technical field [0001] The invention relates to the technical field of attitude control, in particular to a balance control system for a single-wheel trolley. Background technique [0002] The power system is a power production and consumption system composed of power generation, power transmission, power transformation, power distribution and power consumption. Its function is to convert the primary energy in nature into electric energy through the power generation device, and then supply the electric energy to various users through power transmission, transformation and distribution. Therefore, in the power system, some cables are often laid or arranged to realize the output of electric energy. When transporting cables, a transport trolley is used, and the trolley usually uses a single wheel to move. The single-wheel self-balancing car is relatively unstable, and has problems such as multi-variable, nonlinear, and strong coupling during the moving process. In order to e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2240/12B60L2240/14B60L2240/20B60L2240/32B60L2240/461Y02T10/64Y02T10/72
Inventor 张传刚
Owner STATE GRID CORP OF CHINA
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