Control system and method of self-following balancing trolley

A technology for balancing the trolley and the control system, which is applied in the control/adjustment system, the control of finding targets, and the two-dimensional position/channel control. performance effect

Inactive Publication Date: 2019-08-13
XI'AN POLYTECHNIC UNIVERSITY
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a control system for a self-following balance trolley, which solves the problem of poor stability in the automatic following technology existing in the prior art

Method used

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  • Control system and method of self-following balancing trolley
  • Control system and method of self-following balancing trolley
  • Control system and method of self-following balancing trolley

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] A control system for a self-following balancing trolley, comprising a master control device and an automatic follower device, and information interaction between the master control device and the automatic follower device is realized through an infrared ultrasonic ranging receiving and sending device;

[0028] The main control device adopts the STM32F103RBT6 main control board, the STM32F103RBT6 main control board is connected with the car attitude acquisition device, the car attitude acquisition device includes the sensor module, the STM32F103RBT6 main control board is connected with the infrared ultrasonic split distance measurement receiving device, the car attitude acquisition device, and the speed measuring device , The motor drive device is connected, and the STM32F103RBT6 main control board is connected to the host computer throu...

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Abstract

The invention provides a control system and method of a self-following balancing trolley. The system is provided with an automatic ranging device, gyroscope data and accelerometer data are fused through a Kalman filtering optimization algorithm in a control method of the self-following balancing trolley, and double-closed-loop control based on the balancing and speed is constructed by taking the optimal attitude angle and the trolley speed as the feedback quantity, and then the self-balancing control of the trolley system is realized by utilizing a fuzzy PID control algorithm, and the distancebetween the front object and the self-balancing trolley can be acquired according to the automatic ranging device, thereby realizing the autonomous tracking. The entire performance of the self-following balancing trolley system based on an embedded controller is improved, so that the balancing trolley has the features of being short in time consuming, strong in stability and interference resistance and low in power consumption.

Description

technical field [0001] The invention relates to the technical field of self-balancing trolley control, in particular to a control system and method for a self-following balancing trolley. Background technique [0002] With the development of automatic control technology, more and more researchers are investing in the research of two-wheeled mobile robots. The two-wheeled self-balancing car has the characteristics of multi-variable, strong coupling, nonlinear and other complex and highly coupled motion control. It is an ideal platform for the research of two-wheeled mobile robots and various control algorithms. At present, there are many technologies about automatic following. Take, for example, the Budgee robot from Five Elements Robotics, a lightweight assistive robot for the elderly and disabled. Budgee's top speed is about 3.9 kilometers per hour. If the owner's speed is too fast, it will remind the owner to slow down by means of message push. But these technologies are...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/08G05D1/12
CPCG05D1/0231G05D1/0255G05D1/0891G05D1/12
Inventor 刘成涛李显鹏李彦斌王震幸逍王山林
Owner XI'AN POLYTECHNIC UNIVERSITY
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