A system for balancing a vehicle and a control method thereof

A control method and technology of a balance car, applied in the control system, torque ripple control, linear motor control, etc., can solve the problems of increased production cost and maintenance cost, excessive deviation, and low precision of the control system

A control method and technology of a balance car, applied in the control system, torque ripple control, linear motor control, etc., can solve the problems of increased production cost and maintenance cost, excessive deviation, and low precision of the control system

CN109067264AActive Publication Date: 2018-12-21汇佳网(天津)科技有限公司
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  • A system for balancing a vehicle and a control method thereof
  • A system for balancing a vehicle and a control method thereof
  • A system for balancing a vehicle and a control method thereof

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Embodiment Construction

[0085] see figure 1 , the present invention provides a balance car system, which adopts the second-order dynamic Terminal sliding mode and particle swarm algorithm based on Kalman filter, including control part, sensor part, human-computer interaction part, power supply part, main circuit part and host computer part ; The control part adopts a microcontroller, which is respectively connected with the sensor part, the human-computer interaction part, the power supply part and the main circuit part;

[0086] Control part: choose the STM32F103ZET6 control of ST Company as the main control chip. This chip has two advanced timers and a storage capacity of 512K. There are 5 kinds of IO ports and multiple serial communication interfaces, which meet the design requirements very well.

[0087] Sensor part: There are gyroscopes, external sensors, current sensors, voltage sensors, rotation angle sensors, and speed sensors. Among them, the gyroscope is used to collect the angular velocit...

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Abstract

The invention discloses a balancing vehicle system and a control method thereof. According to a difference equation model and a drift error model of attitude signals of the balancing vehicle system, astate equation of an extended Kalman filter and a mathematical model of a permanent magnet linear motor are established. A second-order dynamic Terminal sliding film is used to drive permanent magnetsynchronous motor. Particle Swarm Optimization (PSO) is used to optimize the parameters of tracking controller, synchronization controller, clearance elimination controller and switching function ina two-motor system. The invention realizes that the signal collected by the sensor of the balancing vehicle has large noise and zero drift error, and solves the problem of poor robustness and the problem that the Brush motor structure is complex, fault, maintenance workload, short life, commutation spark easy to produce electromagnetic interference, as well as in the balance of the car in the process of running jitter, deviation is too large, and low security.

Description

technical field [0001] The invention belongs to the technical field of balance car control, and in particular relates to a balance car system and a control method thereof. Background technique [0002] Two-wheeled self-balancing vehicles have gradually entered people's lives because of their low price, small size, light weight, and ease of movement and portability. At present, the related technologies of self-balancing vehicles are constantly being updated, the control of the self-balancing system is more flexible and sensitive, and the human-computer interaction system tends to be more detailed and humanized. But in terms of driving mode, most of the mainstream self-balancing car brands on the market currently use DC brushed motors, and the electric energy enters the armature winding through the brushes and commutator to drive the motor. Due to the existence of brushes and commutators, brushed motors have characteristics such as complex structure, many faults, heavy mainte...

Claims

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Application Information

Patent Timeline
21 Dec 2018
Publication
CN109067264A
IPC
H02P6/04; H02P6/10; H02P6/00; H02P6/34; B62K11/00
CPC
B62K11/007; H02P6/006; H02P6/04; H02P6/10; H02P6/34
Inventors
林海; 翟晋平