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Self-balancing robot control method

A control method and robot technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as height instability, angle deviation, system instability, etc., to ensure safety and stability, reduce Algorithmic pressure, the effect of improving accuracy

Inactive Publication Date: 2019-08-23
TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its structural feature is that the two wheels are coaxial and arranged parallel to the left and right. The self-balancing robot is a highly unstable system. The gyroscope has a good dynamic effect, but due to the temperature drift of the gyroscope, the angle obtained after integration in static state will be There is a large deviation; while smoothing and filtering the accelerometer signal to denoise, a good static angle can be obtained, but it is easily disturbed by dynamic acceleration during motion
Therefore, neither the accelerometer nor the gyroscope can be used alone to obtain effective and reliable vehicle body attitude information, and this linear combination method makes it impossible to balance the stability of the system. In the face of large disturbances, the system is unstable. Therefore, It is necessary to study a self-balancing robot with high stability to achieve balanced walking, accurate walking, and obstacle avoidance of the self-balancing robot.
[0003] A control method for a self-balancing robot. There are still many practical problems that need to be dealt with in practical applications, and no specific solutions have been proposed.

Method used

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Embodiment 1

[0033] A control method for a self-balancing robot includes an electrical system, the electrical system is divided into a control module, an attitude detection module, a wireless communication module, an execution module, and a power supply module; wherein the power supply module provides a stable DC power drive module for other parts, The control module issues instructions to control the DC motor in the execution module to run according to the programming method, and the encoder forms a feedback loop; the changes in the attitude angles in all directions during the system movement are measured by the attitude detection module, and uploaded for data processing and analysis. At the same time, the data is fed back to the main controller to form a control loop;

[0034] The attitude detection module uses a sensor to collect angular velocity and acceleration signals, directly reads the quaternion and acceleration through the DMP of the sensor and directly converts the quaternion int...

Embodiment 2

[0040] see figure 1 A control method for a self-balancing robot includes an electrical system, the electrical system is divided into a control module, an attitude detection module, a wireless communication module, an execution module, and a power supply module; wherein the power supply module provides a stable DC power drive module for other parts , the control module issues instructions to control the DC motor in the execution module to run according to the programming method, and the feedback loop is formed by the encoder; the change of the attitude angle in each direction when the system is moving is measured by the attitude detection module, and uploaded for data processing and analysis At the same time, the data is fed back to the main controller to form a control loop; the data communication between the self-balancing robot and external equipment is realized through the wireless communication module.

[0041] The attitude detection module uses a sensor to collect angular...

Embodiment 3

[0066] A control method for a self-balancing robot includes an electrical system, which provides a stable DC power drive module for other parts through the power module, and the control module issues instructions to control the DC motor in the execution module to run according to the program. Initialization operation, this step is the initialization operation of the entire self-balancing robot, including the initialization of the main controller, the initialization of the sensor, the initialization of the execution module, the initialization of the wireless communication, and the initialization of the interrupt. The initialization of the interrupt can accurately control the embedded operating system and realize a A series of functions, the initialization operation of the wireless communication module can provide guarantee for the communication between the chips, the initialization of the sensor can detect the attitude information more accurately; and the feedback loop is compose...

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Abstract

The invention provides a self-balancing robot control method. A stable DC power supply driving module is provided through a power supply module; a control module issues a command to control a DC motorof an execution module to run according to a program, and a feedback loop is formed by an encoder; an attitude detection module collects each attitude angle in the system, the attitude angles are transmitted to a main controller, a control loop is formed, and the motor is controlled. A sensor in the attitude detection module can directly read a quaternion and an acceleration, an inclination valueand an angular velocity value can be precisely obtained, the stability of the self-balancing robot is higher, an external environment is adaptive, interference on the self-balancing robot by the external environment can be reduced maximally, and the safety and the stability are thus ensured; and besides, the algorithm pressure of the main controller is reduced, the data transmission accuracy is improved, and the real-time performance of the system is improved.

Description

technical field [0001] The invention relates to the field of self-balancing robots, in particular to a control method for self-balancing robots. Background technique [0002] The self-balancing robot is a new type of small vehicle, its model is similar to that of an inverted pendulum, and it has the characteristics of nonlinearity and strong coupling. Its structural feature is that the two wheels are coaxial and arranged parallel to the left and right. The self-balancing robot is a highly unstable system. The gyroscope has a good dynamic effect, but due to the temperature drift of the gyroscope, the angle obtained after integration in static state will be A large deviation is generated; while smoothing and denoising the accelerometer signal, a good static angle can be obtained, but it is easily disturbed by dynamic acceleration during motion. Therefore, neither the accelerometer nor the gyroscope can be used alone to obtain effective and reliable vehicle body attitude infor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 陈公兴
Owner TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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