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Two-wheel self-balancing trolley

A self-balancing car and two-wheel technology, applied in the field of balancing cars, can solve the problems of controller and actuator driving error, interference, and vulnerability to impact, and achieve reliable control and precise operation control.

Active Publication Date: 2019-08-27
TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The gyroscope and acceleration sensor of the balance car have great interference in the transmission signal, and there is a great error in the drive of the controller and the actuator. At the same time, there is a lack of corresponding steering indicators during the steering process. Very prone to traffic accidents
[0005] In addition, the pedals of some balance bikes are fixedly connected to the car body and there is no relative displacement between the car body and the controllability is not strong.
If the pedals are placed on the lower shell, the frame or the lower shell of the self-balancing vehicle are likely to be impacted when passing an obstacle, which reduces the service life of the pedals and their components to a certain extent, and is inconvenient to operate, install and maintain

Method used

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  • Two-wheel self-balancing trolley

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Embodiment one: if Figure 1-5 As shown, a two-wheel self-balancing vehicle includes a frame 12, wheels 2, power storage device 13, pedal device 3, drive mechanism 8, six-axis inertial sensor 11, steering trigger device, wireless communication module 15 and controller 14 , the wheels 2 are movably connected with the drive mechanism 8 and arranged on both sides of the vehicle frame 12, the power storage device 13 is fixedly installed on the bottom plate of the frame 12, and the pedal device 3 is arranged on On the top surface of the vehicle frame 12, the controller 14 is fixedly connected to the vehicle frame 12 and arranged inside the vehicle frame 12, the wireless communication module 15 includes a receiving end and a transmitting end, the control One side of the controller 14 is provided with the six-axis inertial sensor 11, and the other side of the controller 14 is provided with the receiving end 15 of the wireless communication module, and the transmitting end 20 o...

Embodiment 2

[0032] Embodiment two: on the basis of embodiment one, adopt correction algorithm to optimize in the present embodiment, concrete expression is as follows:

[0033] PWM=angle·Kp+Gyro_y·Kd+V·Kps+Vi·Kis+Gyro_z·Kpt

[0034] in:

[0035] angle: balance angle deviation (inclination)

[0036] Gyro_y: y-axis angular velocity

[0037] V: speed deviation

[0038] Vi: speed deviation integral

[0039] Gyro_z: z-axis angular velocity

[0040] The block diagram of the correction algorithm is as follows Figure 5 shown. The tuning steps of the correction algorithm are as follows: (1) Only the proportional control link is added to the control system, and other parameters are set to zero, and the parameter Z is increased until the system has a critical oscillation, and finally Z is determined to be 60%-70% of the current value; (2) After the parameter Z is determined, take a larger Ti value randomly, then gradually reduce Ti until the system oscillates, and then in turn, gradually inc...

Embodiment 3

[0041] Embodiment 3: On the basis of Embodiment 1 and Embodiment 2, a collision avoidance device 22 is provided in the frame of this embodiment, and the collision avoidance device 22 includes a ranging sensor 10, and the collision avoidance device 22 It is connected with the controller 14 and can perform data transmission with the controller 14 . The middle part of the front guard plate of the frame 12 is provided with a circular through hole, and the distance measuring sensor 10 is provided directly opposite the through hole. The distance measuring sensor 10 includes but not limited to the following examples: ultrasonic distance measuring sensor, infrared ranging sensor, laser ranging sensor. The collision avoidance device 22 is preset with a safety distance value, a braking distance value and an emergency braking distance value. When the distance between the balance car and the obstacle is from far to near, the distance measuring sensor 10 will transmit the signal to the co...

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Abstract

The invention provides a two-wheel self-balancing trolley. The two-wheel self-balancing trolley comprises a trolley frame, wheels, a power storage device, a pedal device, a driving mechanism, a six-axis inertial sensor, a steering trigging device, a wireless communication module and a controller, the wheels are movably connected with the driving mechanism and arranged on the two sides of the trolley frame, the power storage device is fixedly mounted on a bottom plate of a rack, the pedal device is arranged on the upper top face of the trolley frame, the controller is fixedly connected with thetrolley frame and arranged inside the trolley frame, the wireless communication module comprises a receiving terminal and an emitting terminal, the six-axis inertial sensor is arranged on one side ofthe controller, the receiving terminal of the wireless communication module is arranged on the other side of the controller, the emitting terminal of the wireless communication module is fixedly mounted on the steering trigging device, and the steering trigging device and the balancing trolley are used in a paired mode. The two-wheel self-balancing trolley is stable in operation and reliable in control, the precise inclination angle value and the precise angular velocity value of the trolley can be obtained, and precise positioning control can further be achieved.

Description

technical field [0001] The invention relates to the technical field of balancing vehicles, in particular to a two-wheel self-balancing vehicle. Background technique [0002] The operating principle of the balance car is mainly based on a basic principle called "dynamic stability". The gyroscope and acceleration sensor inside the car body are used to detect the change of the body posture, and the servo control system is used to drive The motors adjust accordingly to keep the system balanced. It is a new type of green and environmentally friendly product used by modern people as a means of transportation, leisure and entertainment. Usually, a two-wheeled balance car mainly includes two left and right car bodies, a rotating mechanism connecting the left and right two car bodies, and two wheels with axles. Hub motors, pedals between two hub motors, etc. [0003] At present, there are many kinds of balance vehicles involved, but most of them have the following problems. [000...

Claims

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Application Information

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IPC IPC(8): B62K11/00H01M2/10B62J27/00B62J25/00
CPCB62J25/00B62J27/00B62K2202/00B62K11/007B62J45/40H01M50/20Y02E60/10
Inventor 陈公兴
Owner TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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