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Sensor processing and balancing control algorithm of wheeled inverted pendulum

A technology of balance control and inverted pendulum, which is applied in the field of sensor processing and balance control algorithm of wheeled inverted pendulum, can solve the problems such as the inability to balance control of the vehicle body, and achieve the effect of improving stability and reliability

Active Publication Date: 2010-09-08
张明铭
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Due to the irregular ground conditions, the load of the wheels changes greatly, therefore, controlling the torque of the wheels alone will not be able to effectively control the balance of the car body

Method used

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  • Sensor processing and balancing control algorithm of wheeled inverted pendulum
  • Sensor processing and balancing control algorithm of wheeled inverted pendulum
  • Sensor processing and balancing control algorithm of wheeled inverted pendulum

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Experimental program
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Embodiment Construction

[0024] see Figure 1-2 , this specific fact mode adopts following technical scheme: it is made up of fork 1, drive motor 2 with controller, wheel 3, controller and sensor 4, speed measuring device 5; Fork 1 is an inverted fork, also can consider It is the load of the entire inverted pendulum trolley; the controller and sensor 4 read the signal of the sensor for fusion calculation and then generate the speed control value and send it to the drive motor 2 with the controller, and the drive motor 2 with the controller according to the received control By reading the speed information output by the speed measuring device 5, the motor is feedback-controlled to drive the motor, and the motor drives the wheel 3 through the transmission device to finally control the movement of the inverted pendulum.

[0025] The controller uses ST's COMTEX-M3 core processor, and the sensor uses ADI's gyroscope and acceleration sensor. The speed of the motor is measured using an encoder.

[0026] Th...

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PUM

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Abstract

The invention relates to sensor processing and balancing control algorithm of a wheeled inverted pendulum, which relates to the technical field of automatic control. The algorithm comprises sensor processing algorithm, balancing control algorithm, over-speed protection algorithm and emergency processing algorithm; the wheeled inverted pendulum comprises a swing link (1), a driving motor (2) with a controller, a wheel (3), the controller and a sensor (4), and a speed measurement device (5); and the sensor processing and balancing control algorithm of the wheeled inverted pendulum can improve the work stability and reliability of the inverted pendulum and takes a plurality of protective measures under the circumstance of keeping the inverted pendulum balanced, so that the whole inverted pendulum system works more stably and more reliably in the complicated external environment.

Description

Technical field: [0001] The invention belongs to the technical field of automatic control, and relates to a sensor processing and balance control algorithm of a wheeled inverted pendulum. Background technique: [0002] The control method of the wheeled inverted pendulum has always been a hot topic of research at home and abroad. [0003] In 1988, Japanese patent specification JP63-305082 disclosed a kind of trolley with only left and right wheels, which can automatically maintain dynamic balance. This application is only an experimental scheme capable of demonstrating a first-stage inverted pendulum, which is still far away from actual use in technology. [0004] In 2004, the domestic patent specification CN1557668A disclosed a two-wheeled self-balancing trolley that can be used for riding, and its core control output is the torque of the wheels. [0005] In 2007, the domestic patent specification CN1952996A disclosed a remote-controlled two-wheeled self-balancing trolley,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W30/04
CPCG05D1/0891
Inventor 闫学凯李一鹏周伟郭盖华陈志发林敬桥
Owner 张明铭
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