63 results about "Inverted pendulum control" patented technology

A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and / or an inclined surface, so as to let the supporting legs to escape from the level difference and / or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.

Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and / or an inclined surface, so as to let the supporting legs to escape from the level difference and / or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.

A control device of an inverted pendulum type vehicle comprising: a drive unit driving a vehicle movable on a floor surface in all directions comprising a first direction and a second direction, the first direction being orthogonal to the second direction; a base body comprising a payload supporting part receiving a load of the drive unit and a passenger; and a control unit controlling the drive unit so that an inverted pendulum control is performed with respect to a vehicle system center-of-gravity point, wherein the inverted pendulum type vehicle comprises a periodic moving unit being comprised in the base body and receiving a predetermined periodic movement by the passenger, and a periodic detector detecting a period of the periodic moving unit; and the control unit controls the drive unit according to the period of the periodic moving unit.

The present invention discloses a vacuum cleaner including a main body (1) of the vacuum cleaner, a wheel (2) rotatably mounted at the body, a driving unit for driving the wheel (2), a sensor (71) positioned at the main body, for sensing an inclined direction of the main body (1), and a control unit for controlling the driving unit according to the inclined direction of the main body (1) sensed by the sensor (71). In this configuration, the posture of the main body (1) of the vacuum cleaner can be controlled according to the inverted pendulum control theory. Therefore, the main body (1) of the vacuum cleaner can maintain the posture thereof not to fall down.

A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

A traveling apparatus performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon. The traveling apparatus includes a drive portion that drives the vehicle body; a riding detection portion that detects a start of riding on the vehicle body by the passenger; a command generation portion that generates a torque command value to perform the inverted pendulum control and a position control to move the vehicle body to a position that facilitates the riding, when the start of riding is detected by the riding detection portion; and a control portion that controls the drive portion based on the torque command value generated by the command generation portion.

Provided is a traveling apparatus which performs desired traveling under an inverted pendulum control. The traveling apparatus includes: a ground contact member that operates to come into a ground-contact state or a non-ground-contact state with respect to a road surface; a drive portion that drives the ground contact member; a control portion that controls the drive portion; an abnormality degree calculation portion that calculates a degree of abnormality of a traveling state; and an upper bound calculation portion that changes an upper bound of a distance between the ground contact member and the road surface according to the degree of abnormality of the traveling state calculated by the abnormality degree calculation portion. The control portion controls driving of the drive portion so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated by the upper bound calculation portion.

The invention, which belongs to the technical field of artificial intelligence and control, relates to a neural network and enhanced learning algorithm, particularly to an inverted pendulum control method based on a neural network and reinforced learning, thereby carrying out self studying to complete control on an inverted pendulum. The method is characterized in that: step one, obtaining inverted pendulum system model information; step two, obtaining state information of an inverted pendulum and initializing a neural network; step three, carrying out and completing ELM training by using a straining sample SAM; step four, controlling the inverted pendulum by using an enhanced learning controller; step five, updating the training sample and a BP neural network; and step six, checking whether a control result meets a learning termination condition; if not, returning to the step two to carry out circulation continuously; and if so, finishing the algorithm. According to the invention, a problem of easy occurrence of a curse of dimensionality in continuous state space as well as a control problem of a non-linear system having a continuous state can be solved effectively; and the updating speed becomes fast.

A moving object that moves through inverted pendulum control is equipped with a passenger seat in which a passenger sits, a chassis disposed below the passenger seat, a wheel rotatably mounted on the chassis, a drive portion that rotationally drives the wheel, and a weight unit that is provided at least partially in front of an axle of the wheel.

The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking attitude control unit for controlling the attitude actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.

The invention provides an inverted pendulum non-linear controller design method, which belongs to the technical field of nonlinear control. According to the non-linear controller design method, a step controller design method is applied to the problem of inverted pendulum control, so that the whole performance of the controller is improved. The method is characterized by establishing a nonlinear model of an inverted pendulum system, designing a steady-state controller and designing a reference dynamic feedforward controller; designing a feedback controller: designing the feedback controller through a Lyapunov method for a closed-loop error system of an inverted pendulum; and finally, obtaining control laws of the whole system controller. The method not only solves the problem of limitation of a linear controller in a high-nonlinearity and complex-model multivariable system of the inverted pendulum, but also solves the problem that it is hard for intelligence algorithms of a cloud model and a neural network and the like to realize in the application process.

The present invention discloses a vacuum cleaner including a main body (1) of the vacuum cleaner, a wheel (2) rotatably mounted at the body, a driving unit for driving the wheel (2), a sensor (71) positioned at the main body, for sensing an inclined direction of the main body (1), and a control unit for controlling the driving unit according to the inclined direction of the main body (1) sensed by the sensor (71). In this configuration, the posture of the main body (1) of the vacuum cleaner can be controlled according to the inverted pendulum control theory. Therefore, the main body (1) of the vacuum cleaner can maintain the posture thereof not to fall down.

Provided is a traveling apparatus which performs desired traveling under an inverted pendulum control. The traveling apparatus includes: a ground contact member that operates to come into a ground-contact state or a non-ground-contact state with respect to a road surface; a drive portion that drives the ground contact member; a control portion that controls the drive portion; an abnormality degree calculation portion that calculates a degree of abnormality of a traveling state; and an upper bound calculation portion that changes an upper bound of a distance between the ground contact member and the road surface according to the degree of abnormality of the traveling state calculated by the abnormality degree calculation portion. The control portion controls driving of the drive portion so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated by the upper bound calculation portion.

In an inverted pendulum type vehicle (1) configured to travel on a ground surface (G) while maintaining an upright posture under an inverted pendulum control, comprising a base frame (2) supporting a propulsion unit (3), the propulsion unit including a main wheel (85) configured to roll on the ground surface, and a seat unit (4) provided on the base frame for supporting hips of a rider (H), the seat unit includes a saddle (63) having at least a center (C) located ahead of an axial line (B) extending between a rotational center line (A) of the main wheel and a gravitational center (Gt1) of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.

An inverted pendulum type vehicle includes a vehicle body frame having a footstep on which for positioning a rider's feet, a main wheel subjected to an inverted pendulum control, and stand arms pivotally mounted between a standing position and a housing position for supporting the vehicle body frame in a standing state when the inverted pendulum control is not being carried out and the stand arms is positioned at the standing position. The inverted pendulum type vehicle has housing levers that are provided on the vehicle body frame for pivoting the stand arms from the standing position to the housing position. The housing levers protrude upward from a footrest surface of the footstep when the stand arms is positioned at the standing position, and pivot the stand arms to the housing position by being pushed down to the side of the footrest surface.

An inverted pendulum type vehicle includes a vehicle body frame having a footstep on which for positioning a rider's feet, a main wheel subjected to an inverted pendulum control, and stand arms pivotally mounted between a standing position and a housing position for supporting the vehicle body frame in a standing state when the inverted pendulum control is not being carried out and the stand arms is positioned at the standing position. The inverted pendulum type vehicle has housing levers that are provided on the vehicle body frame for pivoting the stand arms from the standing position to the housing position. The housing levers protrude upward from a footrest surface of the footstep when the stand arms is positioned at the standing position, and pivot the stand arms to the housing position by being pushed down to the side of the footrest surface.

The invention relates to a dragon scooter type sliding robot with the gravity adjusted based on an inverted pendulum. The sliding robot comprises rear wheels, rear wheel carriers, inclined rotating shafts, a right leg arm, a mass block, a swing rod, an inverted pendulum control device, a fixed plate, a left leg arm, a platform, a front wheel and a front wheel carrier. The rear wheel carriers of the robot can rotate freely around the connecting positions of the tail ends of the leg arms, and included angle of certain degrees is formed between each rotating axis and the vertical line of the ground; the inverted pendulum device and the inverted pendulum control device are installed on the fixed plate, the inverted pendulum can swing around the rotating axis back and forth, and therefore the gravity position of a swing mechanism is adjusted fast; the front wheel carrier is controlled to rotate through a control device on the platform to achieve steering of the robot; when the inverted pendulum swings transversely, the platform and the leg arms are prompted to swing transversely around the rotating axis of the front wheel carrier, so that the friction between the rear wheels and the ground serves as advance power of the robot.

A pushcart configured to perform inverted pendulum control is made likely to negotiate a step.In a first control mode, a main body is maintained to have a constant posture by performing the inverted pendulum control all the time. For example, when a user operates a selector switch, the control mode is changed to a second control mode in which offset torque is added so that an amount of torque applied to a wheel driver unit becomes larger. In this case, because the pushcart moves faster than usual, even if there exists a step that is hard to negotiate in the state of usual inverted pendulum control, the pushcart is likely to negotiate that step.

An inverted pendulum vehicle has a vehicle body frame, a main wheel combining a plurality of driven rollers arranged along a circle, a pair of drive disks rotatably supported by the vehicle body frame around a laterally extending rotational center line, a plurality of drive rollers arranged rotatably on each drive disk along a circumferential direction and configured to engage the driven rollers of the main wheel, a drive unit for individually driving the drive disks, a control unit for controlling the drive units under an inverted pendulum control, a tail wheel arm having a base end pivotally attached to a part of the vehicle body frame around a laterally extending pivot center line, a tail wheel rotatably supported by the tail wheel arm and a skid member attached to the tail wheel arm, the skid member including a pair of side walls slanting outward toward upper edges thereof.

A pushcart includes a main body, a pair of main wheels, a supporter, an auxiliary wheel, a blocking unit, a switching lever, a slope angle sensor, a gyrosensor, a driver unit, and a supporter rotary encoder. The supporter rotary encoder detects an intersecting angle which is an angle formed by the main body and the supporter, and outputs the detected result to a controller. The gyrosensor detects an angular velocity of the main body in a pitch direction and outputs the detected result to the controller. The controller performs inverted pendulum control in a first control mode based on the detected results of the gyrosensor and the supporter rotary encoder. The controller performs inverted pendulum control in a second control mode based on the detected result of the gyrosensor.

The invention discloses a predictive control method for guaranteeing the closed-loop stability of an inverted pendulum system based on an RBF-ARX model. According to the method, the data-driven systemidentification technology is employed, a modeling method based on the RBF-ARX model without offset item for a linear double inverted pendulum is designed, and the nonlinear dynamic characteristics ofthe inverted pendulum can be effectively described. Based on the global nonlinear dynamic characteristics of the RBF-ARX model without the offset item of the linear double inverted pendulum, an infinite domain model predictive control algorithm capable of ensuring the closed-loop stability of the system is designed, the dynamic and static performance of an inverted pendulum control system can beimproved further, and the method has a high practical value. The method is more suitable for the inverted pendulum control system with high requirements on dynamic and static characteristics and rapidity of the control system.

A pushcart includes a steering unit, a main wheel, a dolly portion, an auxiliary wheel, a connecting unit, a slope angle sensor, a gyrosensor, and a case. On one end of the steering unit, there is provided a cylinder-shaped hinge unit that is supported in a rotatable manner at the other end of the connecting unit on the opposite side to the main wheels, and a holding portion is provided on the other end of the steering unit. A controller performs inverted pendulum control in which the main wheels are rotated based on the detection results of the gyrosensor and the slope angle sensor.

The invention relates to a rotary inverted pendulum control experiment system and control method. Existing inverted pendulum control systems are expensive and mostly used by teachers rather than students. The rotary inverted pendulum control experiment system comprises controllers, a motor driver module, an angle measurement module, PC (personal computer) serial port communication interfaces, a power supply module and a PC; a main controller is connected with the PC through a CH341 serial port interface and comprises the CH341 serial port interface, an MCU (Microprogrammed Control Unit) module, a direct current motor, an LM298 drive module, a high-precision potentiometer and an LM3150 power supply chip; an I / O interface of the MCU module of the main controller is connected with the CH341 serial port interface, the direct current motor, the PC, the LM298 drive module and the high-precision potentiometer. The rotary inverted pendulum control experiment system and control method has the advantages of being operable, simple in operation, high in safety and low in costs.

An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward / backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward / backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.

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.