Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Balance control method of double-gyroscope-mechanism balance car

A technology of balance control and double gyro, which is applied in the field of self-balancing vehicles, can solve problems such as the loss of balance of the vehicle body and the failure of the gyro effect of the battery car, and achieve the effect of improving the self-balancing anti-interference ability

Pending Publication Date: 2022-07-29
YADEA TECH GRP CO LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These control algorithms only control the inclination angle of the vehicle body. In extreme cases, the gyroscopic effect of the battery car will fail, causing the vehicle body to lose balance.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Balance control method of double-gyroscope-mechanism balance car
  • Balance control method of double-gyroscope-mechanism balance car
  • Balance control method of double-gyroscope-mechanism balance car

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0046] A dual gyro mechanism balance car control system includes a balance car body, a controller, a sensor module and an actuator connected to the balance car body. Wherein: the sensor module includes a body inclination sensor composed of an accelerometer and a gyroscope, and an absolute encoder of the motor; the controller is realized based on the TMS320F28335DSP model, and the balance control method proposed by the application is integrated therein; the actuator includes a servo motor ( Speed ​​loop), synchronous pulley and double gyro structure, the synchronous pulley makes the front and rear wheels move synchronously when the double gyro structure is deflected; the front wheel steering motor of the balance car is composed of a servo motor (position loop) and a synchronous belt on it. Wheel composition, the rear wheel hub motor works in th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a balance control method for a double-gyroscope-mechanism balance car, and relates to the technical field of balance cars, the method comprises the following steps: obtaining the difference between the actual precession angle and the expected precession angle of a vehicle double-gyroscope mechanism, and obtaining an expected vehicle body inclination angle through PI ring control; the difference between the actual vehicle body inclination angle and the expected vehicle body inclination angle is obtained, and the precession angle control speed of the double-gyroscope mechanism is obtained through PID ring control and serves as a control signal of a speed ring of a vehicle servo motor; the servo motor controls the double-gyroscope mechanism to deflect based on the control signal, so that corresponding correction torque is generated to balance the gravity torque component of the vehicle body; and the process of obtaining the difference between the actual precession angle and the expected precession angle of the vehicle double-gyroscope mechanism is repeated, so that the actual precession angle is maintained near zero. According to the method, the balance of the vehicle body is ensured while the precession angle of the gyroscope is ensured to be zero, external interference can be effectively resisted, and the gyroscopic effect in the double-gyroscope scheme is ensured to be always effective.

Description

technical field [0001] The invention relates to the technical field of balancing vehicles, in particular to a balance control method of a balancing vehicle with a double gyro mechanism. Background technique [0002] The non-coaxial two-wheeled robot is different from the coaxial two-wheeled robot on the market. It has the characteristics of long and narrow body and flexible movement. It is suitable for complex road conditions and narrow roads. The more representative product is the battery car. As we all know, the battery car is a typical under-actuated system, and it will tip to the left or right without external force. Therefore, the battery car needs external force to achieve self-balancing. Fuzzy PID control method and sliding mode control method are widely used in the balance control algorithm of double gyro scheme. These control algorithms only control the inclination of the body. In extreme cases, the gyroscopic effect of the battery car will fail, causing the body t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 孙永马先康王曼杜傅宇沈长海
Owner YADEA TECH GRP CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com