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Car-seesaw device achieving omnidirectional inclination and balancing control method thereof

A technology of balance control and seesaw, applied in vehicle position/route/height control, attitude control, non-electric variable control and other directions, can solve problems such as the experimental platform of the car seesaw that has not yet been seen, and achieve effective design and development capabilities, training design and development Abilities, Extended Range and Depth Effects

Pending Publication Date: 2017-06-13
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, there is no seesaw experimental platform that can rotate around any axis

Method used

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  • Car-seesaw device achieving omnidirectional inclination and balancing control method thereof
  • Car-seesaw device achieving omnidirectional inclination and balancing control method thereof
  • Car-seesaw device achieving omnidirectional inclination and balancing control method thereof

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Embodiment Construction

[0034] The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0035] The technical scheme of the trolley seesaw device that can tilt in all directions in the present invention includes a seesaw balance mechanism, and the seesaw balance mechanism includes a seesaw platform and an omnidirectional wheel support assembly 17, such as figure 1 shown.

[0036] The omnidirectional wheel support assembly 17 includes three omnidirectional wheels 3 uniformly distributed in the circumference on the same level, and each omnidirectional wheel 3 is installed in a corresponding "U"-shaped wheel frame 4, and each wheel frame 4 passes through the The respective support frames 14 are installed on the base 15, and the axes of the three omnidirectional wheels 3 converge downward at the center of the base 15; encoder 5 and incremental encoder 6, such as figure 1 , figure 2 shown.

[0037] The se...

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Abstract

The invention discloses a car-seesaw device achieving omnidirectional inclination and a balancing control method thereof. An omnidirectional wheel support assembly comprises three omnidirectional wheels uniformly distributed in the circumferential direction, the axes of the three omnidirectional wheels are jointed downwards at one point, and an absolute encoder and an incremental encoder which detect corresponding omnidirectional wheel rotation parameters are arranged; a seesaw platform comprises an upper circular rail slot and a lower circular rail slot, the lower circular rail slot is arranged above the three omnidirectional wheels through hemispheroid coaxially arranged at the bottom of the lower circular rail slot, a gyro sensor is arranged on the lower circular rail slot, a free sports car is arranged inside one circular rail slot, controllable cars are arranged in the other circular rail slot, Hall sensors detecting the corresponding car positions are uniformly arranged at the bottoms and the side parts of both the circular rail slots in the circumferential direction, and encoders detecting the movement velocities of the cars are arranged on the cars. The car-seesaw device can incline in any direction, the dimension of a seesaw platform balancing control system is greatly improved, and then the range and depth of seesaw platform control theory research are expanded.

Description

technical field [0001] The invention relates to balance control technology, in particular to a seesaw device for a trolley that can tilt in all directions and a balance control method thereof. Background technique [0002] The trolley seesaw balance control experimental device has good physical characteristics such as simple structure and easy analysis of motion mechanism. It is an experimental platform for theoretical research on motion control. Currently, it is often used in performances such as college student electronic design competitions and smart car competitions. [0003] The existing seesaw test platform for trolleys is usually composed of a seesaw that can tilt around a fixed direction and a trolley that can move freely on the seesaw. The basic control principle is to detect the tilt state of the seesaw through a single-axis inclination sensor and adjust the trolley in real time. The relative position of the seesaw is used to keep the seesaw in dynamic balance. Ho...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891Y02T10/72
Inventor 黄用华杨炼张杰庄未韦士腾钟艳如黄美发孙永厚钟永全
Owner GUILIN UNIV OF ELECTRONIC TECH
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