Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system

Abstract

The invention discloses a self-balance control method of a movable type inverted pendulum system. State signals of the movable type inverted pendulum system are collected, the filter processing data method with the combination of a wavelet topology network and a regulator is adopted, a signal fusion technology is used for assistance, input data, middle data and output data of each filter node where effective values of the wavelet network enter are continuously adjusted, the controlled system control number output by the system is completed, the stability and the reliability of work of an inverted pendulum are improved, and the driving and riding stability, safety and comfort of an electric riding tool based on the inverted pendulum system are improved. The invention discloses a self-balance vehicle intelligent control system. By the adoption of a filter processing unit and a signal fusion unit, the capacity of combined control and information feedback of an electrical system and a mechanical system are improved, tiny disturbance generated in the movement process of a self-balance vehicle is reduced, the intelligent degree is improved, the self-balance vehicle intelligent control system is convenient and easy to use, comfortable, stable and capable of reducing cost and improving the cost performance.

Description

technical field [0001] The present invention relates to an automatic control system and a control method for a mobile robot, in particular to an autonomous balance control system and a control method for a vehicle, which is applied in the technical field of inverted pendulum control and is suitable for applying control strategies and carrying out various control experiments Platform, especially suitable for the control field of robot-assisted people-carrying devices, especially for self-balancing vehicles, including two-wheeled vehicles, unicycles, large-wheeled vehicles or small-wheeled vehicles, suitable for environmental protection travel, human transportation, outdoor Fitness, beach surfing, convenient walking aid, personalized travel, police patrol, military mobility, mobile camera photography, mobile viewing, fast arrival, small piece delivery, entertainment and leisure, ceremonial guard of honor, planetary transportation, planetary surface detection and scientific experi...

AI Technical Summary

Problems solved by technology

The inverted pendulum used in the experiment is usually abstracted into a simple linear inverted pendulum and a simple rotating inverted pendulum in order to reduce the impact factor, which simplifies the research of the problem scientifically and provides a basis for the application of the inverted pendulum system in the device in reality. Conditions, but the inverted pendulum is a complex system after all, especially the inverted pendulum system in the moving state, the signal control related to its stability is more complicated and unstable

[0003] There are still problems in the balance control of the existing sports inverted pendulum system: the linear inverted pendulum can only move along a fixed track, and the rotating inverted pendulum can only move in a circular arc with a fixed origin. These inverted pendulum devices need to be limited. Position device and protection circuit module increase the complexity of the balance control algorithm. The range of movement of the inverted pendulum system is mainly limited to the fixed guide rail or the range of the horizontal plane, which is not in line with the actual life and engineering applications. Laboratory is used in scientific experiments and teaching, it is difficult to enter people's life and work

However, although the balance control algorithm of the conventional sports inverted pendulum system can also realize the autonomous balance of the self-balancing vehicle, there are often small disturbances, which have a bad impact on the driving comfort of the self-balancing vehicle.

The conventional mobile inverted pendulum system is not closely integrated with the actual needs and engineering applications. The control strategy basically adopts a general-purpose data processing module without a specially customized control algorithm strategy module. The redundancy or complementarity of source information in space or time cannot obviously overcome the related ambiguity caused by the inaccuracy and interference of sensor measurement. In order to fully consider the complex environment and the time-varying dynamic characteristics of the target, the inverted pendulum The self-adaptive balance of the system is compromised. The structure of the existing balance car control system is not compact enough, which increases the difficulty of equipment installation and manufacturing of the self-balancing car. Because the control strategies of the existing thinking car and self-balancing car are relatively complicated , at a considerable level of balance and stability control, additional costs need to be added, which is not conducive to industrialization and engineering manufacturing. At the same time, due to the high manufacturing cost, it is difficult to promote the market. For the purpose of achieving driving balance, purchasing general electronic components The self-balancing car assembled or slightly improved on this basis will directly affect the overall quality of the self-balancing car due to the incompatibility of the compatibility and software interface. Only by debugging and correcting on the production line, the overall system cannot Overcoming the lack of components, unable to meet the needs of the market, affecting market prospects

In short, self-balancing vehicles are being widely used with the development of modern control technology, but the traditional technology cannot guarantee the self-balancing of two-wheeled vehicles. Balance, it is very easy to cause traffic accidents, and there are potential safety hazards, which makes the balance maintenance of the self-balancing vehicle during driving a technical problem that needs to be solved urgently

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