Self-balancing rod device based on Hall sensor
By combining Hall sensors and electric telescopic rods, a self-balancing device based on simple physical principles was realized, solving the problem of high cost in existing technologies and achieving the stability and self-balancing of the rod under external force.
Patent Information
- Application Number
- CN202421604622.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2026-02-10
- Estimated Expiration
- 2034-07-09
Smart Images
Figure CN223897969U_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of self-balancing technology, specifically to a self-balancing device built based on the equilibrium conditions of an object, which can help a rod restore its vertical state under the action of external force, and is mainly used in comprehensive experimental teaching in universities. Background Technology
[0002] Self-balancing technology involves using sensors to detect data, then processing it with a controller. Based on the calculations, the controller controls actuators to maintain the object's balance. With technological advancements and increasing demand for self-balancing devices, these devices are widely used in industries such as artificial intelligence, robotics, transportation, and entertainment equipment, making research on self-balancing devices of great significance. Common types of self-balancing devices use gyroscopes, process control algorithms (PID), and mechanical control, but these mostly rely on electronic information and cybernetics methods to achieve self-balancing, resulting in high costs and limited widespread application. Therefore, it is necessary to construct a self-balancing device using simple physical principles and physical experiments. Utility Model Content
[0003] (1) Technical problems to be solved:
[0004] The purpose of this invention is to overcome human intervention and enable a pole that is tilted by external force to have a self-balancing effect, adapt to practical needs, and design a self-balancing device that can make the pole resist external forces and remain stable.
[0005] (2) In order to achieve the purpose of this invention, the technical solution adopted by this invention is as follows:
[0006] The designed self-balancing device consists of two parts: a basic experimental platform and a self-balancing control section.
[0007] The basic experimental platform includes a lightweight aluminum rod, a ring magnet, a fixed pulley, a force gauge, a spring, an electric telescopic rod, an anemometer, a tower fan, a voltage regulating transformer, a vertical pole, and two flat wooden boards.
[0008] The specific installation is as follows: A fixed pulley is installed every 120° on the experimental platform constructed from the wooden planks. Each fixed pulley is equidistant from the fulcrum of the rod, and an electric telescopic rod is fixed directly below each fixed pulley. The bottom of the lightweight aluminum rod is conical, with a small aluminum ring fitted on top, which is combined with a ring magnet. A small hole is drilled every 120° on the small aluminum ring. One end of the spring is connected to the small hole, and the other end is connected to a force gauge and the electric telescopic rod via a thin wire.
[0009] The self-balancing control section includes a Hall sensor, a comparator, a dual H-bridge drive module, a delay circuit, a 5V switching power supply, and an 8V switching power supply.
[0010] The specific configuration is as follows: A Hall sensor is placed at a relative position on each of the springs. The three Hall sensors are at the same height as the annular magnet in its vertical position and are equidistant from the outer ring of the magnet. The Hall sensors are connected to a comparator module and powered by a 5V switching power supply. The comparator module, delay circuit module, dual H-bridge drive module, and electric telescopic rod are connected together, and the 8V switching power supply powers the dual H-bridge drive module.
[0011] The beneficial effect of this invention is that a ring magnet is placed on the rod to generate a symmetrical magnetic field. On the plane of the ring magnet, at the relative position of each spring, a linear Hall sensor is placed to monitor the magnitude of the magnetic induction intensity at that position. The magnetic induction intensity at each position is negatively correlated with the distance from the outer ring of the ring magnet. When the rod is tilted by an external force, the magnetic induction intensity at the Hall sensor increases when the ring magnet moves closer to it, and decreases when it moves away. Because the Hall voltage of the Hall sensor in the positive range of the linear interval is proportional to the magnetic induction intensity, the change in the rod's position is converted into a change in the Hall voltage, thereby realizing the monitoring of the rod's position change using a linear Hall sensor.
[0012] When the rod is in a vertical position, the resistance of the calibration potentiometer in the comparator module is adjusted to equal the Hall voltage (reference voltage) when the rod is vertical, which serves as the inverting input voltage of the comparator. When the rod is tilted, the output voltage signal of the Hall sensor serves as the positive input voltage of the comparator, which is compared with the inverting input voltage. Based on the comparison result, the output of the comparator will generate a corresponding high or low level signal. After passing through an inverter, an opposite level signal is generated. This set of level signals is then sent to the dual H-bridge drive module through a delay circuit module in a cyclical manner. The dual H-bridge drive module determines the type of input level to drive the extension and retraction of the electric telescopic rod, changing the spring elongation and adjusting the resultant force of the three springs to resist external forces, thus restoring the rod to a vertical position. Attached Figure Description
[0013] Figure 1 General diagram of the device
[0014] Figure 2 for Figure 1 Design drawings of the invention device
[0015] Figure 3 for Figure 2 Control module component diagram
[0016] Figure 4 for Figure 3 Circuit design diagram of the comparator module
[0017] Figure 5A graph showing the relationship between wind speed and wind moment.
[0018] 1. Design drawing of the invention device; 2. Wind speed measuring instrument; 3. Tower fan; 4. Voltage regulating transformer; 5. Pole; 6. Ring; 7. Ring magnet; 8. Hall sensor; 9. Control module; 10. Electric telescopic pole; 11. Force gauge; 12. Fixed pulley; 13. Spring; 14. 8V switching power supply; 15. 5V switching power supply; 16. Comparator module; 17. Dual H-bridge drive module; 18. Delay circuit module; 19. Hall sensor; 20. Calibration potentiometer; 21. Comparator; 22. Inverter. Detailed Implementation
[0019] The following is in conjunction with the appendix Figure 1-4 The invention is further illustrated by examples:
[0020] The designed self-balancing device consists of two parts: a basic experimental platform and a self-balancing control section.
[0021] The basic experimental platform consists of a fixed pulley (12) installed every 120° on a wooden experimental platform. Each fixed pulley (12) is equidistant from the fulcrum of the rod, and an electric telescopic rod (10) is fixed directly below each fixed pulley (12). The bottom of the lightweight aluminum rod (5) is conical, and a small aluminum ring (6) combined with a ring magnet (7) is fitted on it. A small hole is punched every 120° on the small aluminum ring (6). One end of the spring (13) is connected to the small hole, and the other end is connected to the force gauge (11) and the electric telescopic rod (10) through a thin wire.
[0022] The self-balancing control section consists of a Hall sensor (8) placed at a relative position to the spring (13). The three Hall sensors (8) are at the same height relative to the annular magnet (7) in the vertical state of the rod (5) and are equidistant from the outer ring of the annular magnet (7). The Hall sensors (8) are connected to the comparison module (16) and powered by a 5V switching power supply (15). The comparison module (16), the delay circuit module (17), the dual H-bridge drive module (18), and the electric lifting rod (10) are connected together, and the 8V switching power supply (14) powers the dual H-bridge drive module (17).
[0023] Example
[0024] To investigate the self-balancing effect of the invented device in a wind field;
[0025] Using an external battery to control the electric telescopic pole (10), the pole (5) is observed to be in a vertical state in two mutually perpendicular directions. The output voltage of the Hall sensor 8 in the vertical state is measured with a multimeter. The reverse input voltage of the comparator (21) is made equal to the Hall voltage in the vertical state by adjusting the calibration potentiometer (20). This voltage is then set as the reference voltage.
[0026] The initial value of the input voltage of the tower fan (3) is adjusted to 120V by the voltage regulating transformer (4). The tower fan 3 is turned on to blow air onto the pole. When the pole (5) returns to the vertical state under the action of the self-balancing device, the wind speed on the front of the pole is measured by the anemometer (2), and the readings of the three force gauges 11 are recorded.
[0027] The input voltage of the tower fan was increased by 20V in turn, and the three sets of data were measured and recorded repeatedly.
[0028] The recorded data was processed and imported into Origin software for analysis and fitting. Figure 5 .
[0029] like Figure 5 As shown, the self-balancing bar invented can resist wind torque of different magnitudes and always maintain a vertical state with good self-balancing effect.
Claims
1. A self-balancing bar device based on a Hall sensor, characterized in that: A lightweight aluminum rod (5) has a conical structure at its bottom; an aluminum ring (6) is fitted onto the lightweight aluminum rod (5), and three connecting holes are symmetrically opened at 120° on the aluminum ring (6); a ring magnet (7) is fixed to the aluminum ring (6); three fixed pulleys (12) are symmetrically distributed at 120° with the fulcrum of the lightweight aluminum rod (5) as the center, and the distance from each fixed pulley (12) to the fulcrum is equal; three electric telescopic rods (10) are each fixedly installed directly below a fixed pulley (12); three springs (13) are each fixedly connected at one end to the connecting hole of the aluminum ring (6); three force gauges (11) are each connected to the other end of a spring (13) by a thin wire, and the thin wire passes around the corresponding fixed pulley (12) and is connected to the electric... Telescopic rod (10); three Hall sensors (8) are respectively set at the corresponding positions of three springs (13). When the lightweight aluminum rod (5) is in a vertical state, each Hall sensor (8) is at the same height as the ring magnet (7) and the distance to the outer ring of the ring magnet (7) is equal; comparator module (16) is connected to the output of the three Hall sensors (8) by its input end; delay circuit module (17) is connected to the output of the comparator module (16) by its input end; dual H-bridge drive module (18) is connected to the output of the delay circuit module (17) by its input end and the output end is connected to the control end of the three electric telescopic rods (10); 5V switching power supply (15) supplies power to the Hall sensors (8) and comparator module (16); 8V switching power supply (14) supplies power to the dual H-bridge drive module (18).
2. The self-balancing bar device based on a Hall sensor according to claim 1, characterized in that: The linear Hall sensor (8) and the ring magnet (7) constitute a displacement detection component. When the rod is tilted, the change in magnetic induction intensity generates a Hall voltage offset. The comparator module (16) compares the Hall voltage offset with the reference voltage and outputs a level signal. The dual H-bridge drive module (18) drives the extension and retraction of the corresponding electric telescopic rod (10) according to the level signal type; the electric telescopic rod (10) causes the spring (13) to deform through the traction of the thin line, generating a compensating torque that restores the rod to a vertical state.