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A method and device for tuning steering control parameters of an unmanned motorcycle

A steering control and parameter tuning technology, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve problems such as lack of scientific basis and instability, achieve reliable scientific basis and improve stability.

Active Publication Date: 2021-08-10
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Although the handlebar steering control has many advantages, the previous handlebar steering control unmanned motorcycle active balance controller parameter setting is based on the experience of engineers, which is unstable and lacks scientific basis.

Method used

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  • A method and device for tuning steering control parameters of an unmanned motorcycle
  • A method and device for tuning steering control parameters of an unmanned motorcycle
  • A method and device for tuning steering control parameters of an unmanned motorcycle

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Embodiment example

[0203] The parameters of the unmanned motorcycle controller parameter tuning method in the embodiment of the present application are as follows: the inertia weight ω in the position update formula of the particle swarm algorithm is 0.8, the learning rate is 1.5, the initial particle number in the particle population is 30, and the maximum number of iterations n is 200 , the crossover probability is 0.2, the population crossover ratio is 0.5, and the fitness value weight ω 1 is 0.4, the fitness value weight ω 2 is 0.2, the fitness value weight ω 3 is 0.2, the fitness value weight ω 4 is 0.2, the Lyapunov penalty coefficient k L is 100, k t (Complete convergence time ratio) is 0.8, and the duration of one control cycle is 10. For an ideal light unmanned motorcycle, the quality attributes are shown in Table 1.

[0204] Table 1

[0205]

[0206]

[0207] For four different initial working conditions, that is, when the body tilt angles are θ=1°, θ=2°, θ=4°, and θ=8°, an...

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Abstract

The embodiment of the present application discloses a method and device for setting steering control parameters of an unmanned motorcycle. The method includes: corresponding each active balance parameter of the unmanned motorcycle to a dimension of the particle in the particle swarm algorithm; the active balance parameter is one or more; set each dimension in the particle to a different initial value to obtain multiple initial particles, and form a particle population from the multiple initial particles; select the optimal particle population from the particle population Particles: the active balance parameter corresponding to the dimension of the optimal particle is used as the steering control parameter of the unmanned motorcycle. Through this embodiment solution, it is realized that it does not rely on the experience of engineers, has a reliable scientific basis, and improves the stability of the active balancing process of the unmanned motorcycle.

Description

technical field [0001] This paper relates to unmanned vehicle control technology, especially a method and device for setting steering control parameters of unmanned motorcycles. Background technique [0002] my country has a vast territory, covering a large number of mountains, hills, deserts, grasslands and other harsh terrains, which brings great challenges to automatic logistics and transportation. In such an environment, human resources are limited, and general unmanned motorized vehicles cannot adapt to this off-road environment. The unmanned motorcycle has the characteristics of high speed, high maneuverability and high cross-country performance, and it can handle this difficult task. [0003] For a single-track wheeled robot such as an unmanned motorcycle, it is particularly important to control the active balance of the unmanned motorcycle. There are four main methods for controlling active balance: [0004] 1. Inverted pendulum control: The inverted pendulum cont...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G06N3/00
CPCG05D1/0891G06N3/006
Inventor 陈章孙一勇赵浩天杨君梁斌
Owner TSINGHUA UNIV