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Active-following compound control method for two-wheeled self-balancing vehicle based on human-computer interaction

A self-balancing vehicle, human-computer interaction technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of unable to realize active follow movement, and achieve compact structure. , The effect of reducing energy consumption and low energy consumption

Inactive Publication Date: 2020-08-25
DALIAN UNIV OF TECH
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Problems solved by technology

The Chinese patent (document 2) with the application number 201710835076.X proposes a two-wheel self-balancing vehicle active obstacle avoidance trajectory planning and stable tracking control method. The trajectory planning and tracking control method proposed in this patent is mainly used for two-wheel self-balancing The active obstacle avoidance control of the balance car does not involve the interaction with people, nor can it realize the active following movement of people

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  • Active-following compound control method for two-wheeled self-balancing vehicle based on human-computer interaction
  • Active-following compound control method for two-wheeled self-balancing vehicle based on human-computer interaction
  • Active-following compound control method for two-wheeled self-balancing vehicle based on human-computer interaction

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specific Embodiment

[0098] Specific embodiments: firstly, the relevant parameters of impedance control are obtained by conducting human-human interaction experiments, specifically refer to Document 1, the obtained parameters are as follows: n=2, χ=100, R=1.55, m=0.35, c=0.19, k = 0.01. Then, the two-wheeled self-balancing vehicle produced by Yabo Intelligent Technology Co., Ltd. is properly modified as an experimental vehicle. Through a reference trajectory v h = 0.1m / s, to simulate human motion. Using C language, the compound control algorithm proposed in the present invention is written as a control program and written into the single-chip microcomputer of the experimental vehicle for experimentation, and the relevant experimental data is transmitted to the upper computer for analysis through Bluetooth technology, such as Figure 4 shown.

[0099] It can be seen from the figure that the steering angle of the two-wheeled self-balancing vehicle It is kept stable at about π / 4, that is, it coin...

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Abstract

The invention relates to an active following composite control method for a two-wheeled self-balancing vehicle based on human-computer interaction, which includes three parts: steering control, forward control and body balance control. The steering control uses a direct adaptive fuzzy controller to make the forward direction of the two-wheeled self-balancing vehicle always coincide with the connection between its current position and the person's position. The forward control part establishes the relationship between the human-computer interaction force and the distance deviation between the two-wheeled self-balancing vehicle and the person through impedance control, and then obtains the forward control torque to maintain an appropriate distance between the two-wheeled self-balancing vehicle and the person. distance. The vehicle body balance control part controls the vehicle body inclination angle within a given range through a supervisory controller to maintain vehicle stability.

Description

technical field [0001] The invention belongs to the field of control of two-wheeled self-balancing vehicles, in particular to an active-following compound control method for two-wheeled self-balancing vehicles based on human-computer interaction. Background technique [0002] In recent years, human-centered intelligent robots with good human-machine coexistence capabilities have become more and more popular, and they have important application values ​​in many occasions such as homes, restaurants, and airports. Robots that can actively follow people are an important branch of human-centered intelligent robots, and they need to keep a proper distance from people during the movement so that they can be accepted by human leaders. To this end, the paper "Human interaction dynamics for its use in mobilerobotics: impedance control for leader-follower formation" published in "IEEE / CAAJournal of Automatica Sinica", Volume 4, Issue 4, 2017 (Document 1) proposed an impedance The cont...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223
Inventor 宁一高岳明赵旭东孙希明
Owner DALIAN UNIV OF TECH