Dynamic balance control method of inverted pendulum system, and intelligent balance vehicle control system

Abstract

A dynamic balance control method of an inverted pendulum system and an intelligent balance vehicle control system belong to the technical field of inverted pendulum control. The intelligent balance vehicle control system comprises a power supply system, a signal acquisition sub system, a signal sorting sub system, a signal processing sub system and a data processing sub system. The control method comprises initializing the inverted pendulum system through detection for information of a series of sensors, caching exact value data of information at last moment, obtaining information sampling values of the various sensors at the current moment through an information acquisition unit, performing primary data processing to obtain a current-moment information sampling value relative to the inverted pendulum system, and inputting the current-moment information sampling value relative to the inverted pendulum system to a filtering processing unit to perform subsequent processing. Key technical problems of acquisition and processing of a state signal of an intelligent balance vehicle based on the inverted pendulum system dynamic balance control method are solved, the whole-vehicle intelligent degree is improved, and working stability and reliability of the inverted pendulum system are improved.

Description

technical field [0001] The present invention relates to a robot automatic control system and its control method, in particular to an autonomous balance control system and control method of 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 experiment platforms , especially suitable for the control field of robot-assisted manned walking devices, especially for self-balancing vehicles, which are suitable for running in small spaces and can be used in large shopping centers, international conferences or exhibition venues, stadiums, golf courses , airports, office buildings, industrial parks, large parks and squares, eco-tourism scenic spots, living and residential quarters in cities and other indoor or outdoor occasions as people's means of transportation. Background technique [0002] The control problem of the inverted pendulum is to make the pendulum reach a balance ...

AI Technical Summary

Problems solved by technology

The signal fusion algorithm of the output acceleration of the wheel is based on the deflection angle value of the vehicle body and the angular velocity of the vehicle body deflection as the data source. It is lacking in comprehensive and complete information about the objects and the environment of the inverted pendulum system obtained by multiple sensors. Taking advantage of the signal fusion algorithm, the accurate state estimation achieved by detecting, combining, correlating, estimating, and combining multi-source data is not ideal, and cannot effectively achieve a complete and timely balance situation assessment

This invention only provides a self-balancing strategy for two-wheeled vehicles, and does not disclose the self-balancing strategy for single-wheeled self-balancing vehicles, which also has a negative impact on the extensiveness of its technical applications

[0005] Although the dynamic balance control algorithm of the conventional inverted pendulum system can also realize the autonomous balance of the self-balancing car, the platform is easy to shake, which affects the comfort of driving and rides, and there are also potential safety hazards. This makes the dynamic balance control of the self-balancing car during driving Become an urgent technical problem to be solved

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