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

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...

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 only be limited to movement on a horizontal guide rail or a horizontal platform, or movement within a fixed point range, which is not very closely related to actual life and engineering; 2) If Limiting device failure or protection circuit device failure will cause equipment damage; 3) due to the above-mentioned common reasons, the range of motion of the existing inverted pendulum is greatly limited, and the control amount cannot be added too large, otherwise it will exceed its limit, Some algorithms cannot be realized on these inverted pendulum systems; 4) the failure of the existing inverted pendulum mechanical transmission part, or the error caused by the transmission gap will cause control failure

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