Inverted pendulum of remote car with two wheels and balance control method thereof

An inverted pendulum and trolley technology, which is applied in vehicle position/route/height control, attitude control, adaptive control, etc., can solve the problems that the algorithm cannot be realized, the control fails, and the control amount cannot be increased too much, so as to achieve the difficulty of control. added effect

Inactive Publication Date: 2007-04-25
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the controller part, the power drive part of the linear inverted pendulum are separated from the mechanical parts such as the swing rod of the trolley, while the rotary inverted pendulum puts the controller and the power drive part in a box, but they are still separated from the swing rod part. Therefore, there are common problems in these inverted pendulums: 1) The linear inverted pendulum can move within the range of the orbit at most, and the rotating inverted pendulum can move in an arc within a range of 180 degrees at most at a fixed point with the motor shaft as the center. The inverted pendulum device has to be equipped with a travel limit device and a protective circuit, which can o

Method used

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  • Inverted pendulum of remote car with two wheels and balance control method thereof
  • Inverted pendulum of remote car with two wheels and balance control method thereof
  • Inverted pendulum of remote car with two wheels and balance control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] Embodiment 1: Inverted pendulum of two-wheeled remote control trolley and its control method

[0061] 1. The hardware of the inverted pendulum of the two-wheeled remote control car:

[0062] The chassis (230 * 80mm) and the "several" type support (9) (long * wide * high 64 * 30×60mm) is made of stainless steel plate (thickness 2mm) to ensure strength, wheels (2) (φ120mm), swing rod (5) (φ10*500mm) and other mechanical parts are made of aluminum alloy plate (thickness 2mm~3mm) To reduce the weight of the car. The installation of components should be evenly distributed as far as possible, so that the weight of the device is symmetrical, especially the weight of the car body perpendicular to the axle should be symmetrical.

[0063] 1. Selection of each functional module:

[0064]The controller (11) in the present embodiment adopts the digital signal processor DSP that model is TMS320LF2407; Use 5V, 3.3V and 3.300V voltage; This chip internal resource mainly comprises: t...

Embodiment 2

[0180] Example 2: Two-wheeled remote control trolley two-stage inverted pendulum and multi-stage inverted pendulum

[0181] Based on the embodiment of the inverted pendulum of the above-mentioned two-wheeled remote control trolley of the present invention, it can also be made into an inverted pendulum of two, three or more levels, as follows:

[0182] One of the manufacturing methods of the two-stage inverted pendulum, as shown in Figure 16: the car body (1) and the swing rod (5) rotate around the wheel (2) axis; Another fork (16), the fork (16) can rotate around the hinge point, and their rotation surfaces are all perpendicular to the axis of rotation; an additional angle measuring device is installed at the position coaxial with the axis of rotation at the hinge , so that it can measure the angle (θ1-θ2) formed between the two pendulums; in this way, the car body (1) and the original pendulum (5) affixed to it constitute the first level pendulum (bottom), and the first level...

Embodiment 3

[0186] Example 3: A two-wheeled remote control trolley capable of avoiding obstacles Two-stage inverted pendulum

[0187] Based on the embodiment 1 of the inverted pendulum of the above-mentioned two-wheeled remote control trolley of the present invention, the inverted pendulum can also be made to have the function of avoiding obstacles ahead, and the method is as follows:

[0188] The ultrasonic ranging module includes a transmitter (17) and two receivers (18). The ultrasonic module is similar to the remote control module and consists of two parts: transmitting and receiving. The transmitting part is composed of a 38KHZ frequency generator and an ultrasonic transmitting probe; the receiving part is composed of a receiving probe and a sensor amplifier circuit. Their power supply voltage is 5V; the 38KHZ frequency generator is implemented by the internal program of the DSP controller, and directly drives the transmitting probe through the IOPF6 port of the DSP controller; the t...

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Abstract

This invention relates to two remote trolley swing and its balance control method, which is characterized by the following: fixing the two direct motors onto car with one end of motor axis connected to wheel and with other end connected to code disc axis; the two axis middle position is fixed with gyroscope with swing bar, controller, remote receiver, power conversion module and motor driver welded on circuit board; the circuit board and direct power are fixed on car. The balance control method comprises automatically parts voltage judging, float correcting and noise measuring for filtering.

Description

Technical field: [0001] The invention belongs to the technical field of automatic control, and in particular relates to an inverted pendulum of a two-wheeled remote control trolley, an experimental device used for scientific research or teaching, and a balance control method thereof. Background technique: [0002] Inverted pendulum is a complex, nonlinear and unstable system, and it is a typical scientific research or teaching device for modern control theory and application. The most commonly used inverted pendulum at present is the inverted pendulum (hereinafter referred to as the straight line) which is introduced in the "Journal of Southwest Institute of Technology" (2001, Vol. Inverted pendulum) and the rotating inverted pendulum that makes arc motion with fixed axis as patent application number 02138164.x introduces. Their motor bodies are all fixed. For example, the motor of the linear inverted pendulum is fixed at one end of the guide rail, and the motor shaft driv...

Claims

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Application Information

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IPC IPC(8): G09B23/06G09B25/02G05D1/00G05D1/08G05D3/00G05D3/12G05B13/00G05B15/00
Inventor 魏衡华张玉斌陈星段旭东
Owner UNIV OF SCI & TECH OF CHINA
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