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Self-balancing vehicle system based on multi-innovation Kalman filtering algorithm

A Kalman filter, self-balancing vehicle technology, applied in the control/regulation system, vehicle position/route/height control, non-electric variable control, etc. Avoid data inconsistencies, improve utilization, and control precise effects

Pending Publication Date: 2021-08-06
CHINA KEY SYST & INTEGRATED CIRCUIT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when multi-sensors interact, there is a problem of data operation logic lag, which will reduce the response speed of balance control

Method used

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  • Self-balancing vehicle system based on multi-innovation Kalman filtering algorithm
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  • Self-balancing vehicle system based on multi-innovation Kalman filtering algorithm

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Embodiment 1

[0034] The invention provides a self-balancing car system based on multi-innovation Kalman filter algorithm, its structure is as follows figure 1 As shown, it includes a microprocessor unit 1 , a power supply unit 2 , an attitude measurement unit 3 , a DC motor unit 4 , an LED indicator unit 5 , a wireless transmission unit 6 and a mobile phone client 7 .

[0035] The microprocessor unit 1 is in charge of attitude data processing and control task scheduling of the self-balancing car; wherein the control tasks mainly include: attitude data processing using a multi-innovation Kalman filter algorithm; by controlling the duty cycle of the PWM wave, adjusting the Running speed; control the IO port connected to the LED indicator unit 5 to indicate the operation and fault status of the self-balancing vehicle; communicate with the wireless transmission unit 6 through the serial port; obtain the straight-ahead, backward, left-turn, and right-turn of the self-balancing vehicle Instructi...

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Abstract

The invention discloses a self-balancing vehicle system based on a multi-innovation Kalman filtering algorithm and belongs to the field of intelligent equipment attitude control. According to the system, an MPU6050 sensor is adopted to directly obtain the attitude data of the X / Y / Z axis, so a problem of data inconsistency caused by fusion of different sensors is avoided, the calculation amount of a microprocessor is further reduced, and the utilization rate of a CPU (Central Processing Unit) is improved; a multi-innovation Kalman filtering algorithm is adopted for processing the attitude data, namely, the current motion attitude of the self-balancing vehicle is considered, the previous motion attitude information of a target is utilized, and a proper innovation length can be selected according to different loads of a microprocessor, so the attitude data with relatively high filtering precision and stability are obtained; a self-balancing vehicle is in data communication with a mobile phone client through the wireless transmission unit, real-time attitude data are processed by means of the data processing capacity of a mobile phone through the ant colony algorithm, optimal PID parameters are obtained and fed back to the microprocessor unit, and therefore control over the self-balancing vehicle is more accurate and stable.

Description

technical field [0001] The invention relates to the technical field of attitude control of intelligent equipment, in particular to a self-balancing car system based on a multi-innovation Kalman filter algorithm. Background technique [0002] The two-wheeled self-balancing vehicle has strong flexibility and belongs to the coaxial parallel arrangement structure. The self-balancing car mechanism is naturally unstable, and it is a high-order, unstable, multivariable, and strongly coupled nonlinear system. To maintain the dynamic balance, attitude detection and control is the key. In the acquisition of the attitude of the self-balancing vehicle, the gyroscope and acceleration data are usually fused and filtered to calculate the attitude of the self-balancing vehicle. This method increases the calculation amount of the microprocessor, occupies the resources of the control system, and is not conducive to system event processing and control. [0003] Data errors caused by inaccur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 宋锦万清
Owner CHINA KEY SYST & INTEGRATED CIRCUIT
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