CN107728635B - Automatic balancing device and method for motorcycle type robot - Google Patents
Automatic balancing device and method for motorcycle type robot Download PDFInfo
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Abstract
The invention discloses an automatic balancing device and a method of a motorcycle type robot, wherein the self-balancing device is applied to the motorcycle type robot, the motorcycle type robot and the self-balancing device form a single-dimensional inverted pendulum structure with two-point support, and the upright self-balancing of the motorcycle type robot is realized according to the momentum conservation law by utilizing the momentum exchange principle in the inverted pendulum principle; the self-balancing device comprises an attitude collector for detecting attitude data of the left and right inclinations of the motorcycle body, a momentum wheel, a motor for driving the momentum wheel to rotate, and a motorcycle body controller respectively connected with the attitude collector and the motor, wherein the motorcycle body controller obtains the attitude data and the rotation data of the momentum wheel, and controls the motor to output the motor rotation data corresponding to the attitude data and the rotation data by using a control algorithm, so that the momentum wheel is controlled to rotate, and the vertical self-balancing of the motorcycle type robot is realized.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an automatic balancing device and method of a motorcycle type robot.
Background
The traditional wheeled robot at least comprises one driving wheel and two supporting wheels which are not in the same straight line with the driving wheel, so that the size of the robot in the width direction is larger, the robot is difficult to move and advance in a narrow environment, and the functions of correspondingly searching or detecting the narrow environment are influenced. For a motorcycle or a bicycle with two parallel wheel axes, the width square size is smaller, but the motorcycle or the bicycle controls the vertical balance of the motorcycle or the bicycle in a narrow space through a human, and for a robot with the similar shape, a corresponding automatic balancing means is not provided to ensure the vertical balance, so that how to solve the problem that the robot has a self-balancing function in a narrow environment is urgent in the field.
Disclosure of Invention
The invention aims to provide an automatic balancing device and method of a motorcycle type robot, so that the motorcycle type robot has a self-balancing function in a narrow environment.
In order to achieve the above object, the present invention provides an automatic balancing apparatus of a motorcycle type robot, the automatic balancing apparatus being applied to a motorcycle type robot, the motorcycle type robot including a front wheel, a rear wheel, and a vehicle body provided between the front wheel and the rear wheel; the self-balancing device is fixedly arranged on the vehicle body, the motorcycle type robot and the self-balancing device form a single-dimensional inverted pendulum structure with two-point support, and the upright self-balancing of the motorcycle type robot is realized according to the momentum conservation law by utilizing the momentum exchange principle in the inverted pendulum principle; wherein, self-balancing unit includes:
the attitude collector is arranged on the vehicle body and used for detecting attitude data of left and right inclination of the vehicle body;
the axial direction of a rotating shaft of the momentum wheel is parallel to the advancing direction or the retreating direction of the motorcycle type robot, and the rotating direction of the momentum wheel is perpendicular to the advancing direction or the retreating direction of the motorcycle type robot;
the output shaft of the motor is connected with the rotating shaft of the momentum wheel to drive the momentum wheel to rotate;
and the vehicle body controller is respectively connected with the attitude collector and the motor, acquires the attitude data collected by the attitude collector and the rotation data of the momentum wheel, and controls the motor to output motor rotation data corresponding to the attitude data and the rotation data by using a control algorithm, so that the motor is controlled to drive the momentum wheel to rotate, and the vertical self-balance of the motorcycle type robot is realized.
Optionally, the self-balancing device further includes a motor driver, a momentum wheel controller, and a power supply, the motor driver, the momentum wheel controller, and the power supply are respectively electrically connected to a stator of the motor, and the rotor of the electronic is connected to the momentum wheel; the motor driver, the momentum wheel controller, the attitude collector and the vehicle body controller are integrated on a circuit board, and the circuit board is fixedly arranged on the vehicle body; the vehicle body controller transmits a control instruction to the momentum wheel controller, the momentum wheel controller controls the motor driver to drive the rotor of the motor to rotate, and the rotor of the motor drives the output shaft of the motor to rotate so as to drive the momentum wheel to rotate.
Optionally, the attitude collector includes two sets of three-axis accelerometers for detecting six sets of accelerations when the vehicle body tilts.
Optionally, the attitude collector includes two sets of triaxial accelerometers and two sets of triaxial gyroscopes, two sets of triaxial accelerometers are used for detecting six sets of acceleration when the automobile body inclines, two sets of triaxial gyroscopes are used for detecting six sets of angular acceleration when the automobile body inclines.
The invention also provides an automatic balancing method of the motorcycle type robot, which is realized by the automatic balancing device and comprises the following steps:
acquiring the posture data of the inclination of the motorcycle type robot body;
calculating the inclination angle and the inclination angle speed of the vehicle body by utilizing an attitude measurement model according to the attitude data;
acquiring the current angular velocity of the momentum wheel;
determining a motor target torque by using a control algorithm according to the vehicle body inclination angle, the vehicle body inclination angle speed and the current angular speed;
controlling a motor to rotate according to the target torque of the motor, and simultaneously driving the momentum wheel to rotate by the motor to obtain corrected attitude data after the vehicle body is adjusted;
judging whether the corrected attitude data is equal to the upright self-balancing attitude data of the vehicle body or not to obtain a judgment result;
when the judgment result shows that the vehicle body is in the vertical self-balancing state, determining that the vehicle body is in the vertical self-balancing state;
and returning to the step of acquiring the attitude data of the body inclination of the motorcycle type robot when the judgment result indicates no.
Optionally, the attitude measurement model in the step of calculating the vehicle body inclination angle and the vehicle body inclination angle velocity by using the attitude measurement model according to the attitude data includes a vehicle body attitude motion equation and a momentum wheel rotation equation, and the step specifically includes:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and solving the first derivative of the vehicle body inclination angle to obtain the vehicle body inclination angle speed.
Optionally, the attitude measurement model in the step of calculating the vehicle body inclination angle and the vehicle body inclination angle velocity by using the attitude measurement model according to the attitude data includes a vehicle body attitude motion equation and a momentum wheel rotation equation, and the step specifically includes:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and acquiring the vehicle body inclination angle and speed measured by a gyroscope.
Optionally, the control algorithm includes any one of a PID control algorithm, a fuzzy control algorithm, an adaptive control algorithm, a robust control algorithm, and an active disturbance rejection control algorithm.
Optionally, the vehicle body attitude motion equation is
Wherein, thetabTo the vehicle body inclination angle, A1,A2,A3,A4,A5,A6Six sets of accelerations detected for a three-axis accelerometer, where A1＝0，A4＝0；r1，r2The distances from the mass center of the two groups of the three-axis accelerometers to the fulcrum of the vehicle body are respectively.
Optionally, the control algorithm is a PID control algorithm, and determining the target torque of the motor by using the control algorithm according to the vehicle body inclination angle, the vehicle body inclination angle speed, and the current angular speed specifically includes:
utilizing control equations in the PID control algorithm
Calculating the motor target torque; wherein, Tm(t) is the motor target torque, K1、K2、K3Are all the control coefficients of the electric motor,θbd、
respectively a reference angle of the vehicle body, a reference angular velocity of the vehicle body, and a reference angular velocity of the momentum wheel, theta being theta in the adjustment control of the vehicle body in an upright self-balancing statebd、
Are both 0; thetabIn order to set the angle of inclination of the vehicle body,
is the vehicle body tilt angular velocity, thetawIs the current angular velocity of the momentum wheel.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the self-balancing device and the self-balancing method provided by the invention are applied to a motorcycle type robot, the self-balancing device is fixedly arranged on a vehicle body, the motorcycle type robot and the self-balancing device form a single-dimensional inverted pendulum structure with two-point support, the rotation data of a momentum wheel is determined by detecting the toppling attitude data of the motorcycle type robot according to a control algorithm by utilizing a momentum exchange principle in the inverted pendulum principle and a momentum conservation law, and the toppling attitude of the motorcycle type robot is balanced by utilizing the rotating speed and the rotating direction of the momentum wheel, so that the vertical self-balancing of the motorcycle type robot is realized. The motorcycle type robot can vertically move in a narrow space under the vertical self-balancing state, and is beneficial to realizing the functions of corresponding searching or detecting and the like in the narrow space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of a motorcycle type robot;
fig. 2 is a schematic structural diagram of an automatic balancing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view showing the construction of an inverted pendulum model formed by a motorcycle type robot and an automatic balancing device according to the present invention;
FIG. 4 is a flow chart of an automatic balancing method provided by an embodiment of the present invention;
FIG. 5 is a diagram of an equivalent inverted pendulum structure with two sets of three-axis accelerometers arranged in position in a motorcycle-type robot;
FIG. 6 is a control schematic diagram of the present invention utilizing an active disturbance rejection control algorithm to achieve automatic balancing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an automatic balancing device and method of a motorcycle type robot, so that the motorcycle type robot has a self-balancing function in a narrow environment.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the motorcycle type robot comprises a front wheel 1, a rear wheel 8 and a vehicle body arranged between the front wheel 1 and the rear wheel 8, wherein the vehicle body comprises a front wheel shaft fork 2, a steering handle 3, a steering shaft sleeve 4, a steering connecting rod 5, a steering gear 6, a rear shaft 9, a vehicle frame 10, a rear wheel driving mechanism 11 and a support steering gear 12; the front wheel 1 is connected with the front wheel shaft fork 2 through a bearing, so that the front wheel 1 can roll along the tangential direction; the front wheel fork 2 is fixed to the steering handle 3 by bolts (not shown); the steering handle 3 is connected with the steering shaft sleeve 4 through a bearing, so that the steering handle 3 can rotate along the center of a rotating shaft of the steering shaft sleeve 4; the steering shaft sleeve 4 is fixed on the frame 10; the steering handle 3 is connected with the steering connecting rod 5 through a hinge; the other end of the steering connecting rod 5 is connected with a turntable of the steering engine 6 through a hinge, and an output shaft of the steering engine 6 rotates to correspondingly drive the steering connecting rod 5 to rotate, so that the steering handle 3 rotates, and the steering function of the robot is realized; the steering engine 6 is fixed on the frame 10; a support steering engine 12 is fixed on the frame 10, and a rotating shaft of the support steering engine 12 can drive the support to rotate; the rear wheel driving mechanism 11 is fixed on the frame 10, and the rear wheel driving mechanism 11 is meshed with the rear wheel 8 through a gear to drive the rear wheel 8 to axially rotate along the rear shaft 9; the rear axle 9 is fixed to the frame 10. The frame 10 is also fixed, by means of a support, with a battery 13 for powering the electrical equipment of the motorcycle-type robot.
As shown in fig. 2, a self-balancing device 7 provided in the embodiment of the present invention is fixed between frames 10 of a vehicle body, and the self-balancing device 7 includes a posture collector (not shown), a momentum wheel 15, a motor 14, and a vehicle body controller (not shown). The attitude collector is arranged on the vehicle body and used for detecting attitude data of left and right inclination of the vehicle body. The axis direction of the rotation shaft 16 of the momentum wheel 15 is parallel to the advancing direction or the retreating direction of the motorcycle type robot, and the rotation direction of the momentum wheel 15 is perpendicular to the advancing direction or the retreating direction of the motorcycle type robot. An output shaft of the motor 14 is connected to a rotating shaft 16 of the momentum wheel 15 to rotate the momentum wheel 15. The vehicle body controller is respectively connected with the attitude collector and the motor 14, acquires attitude data collected by the attitude collector and rotation data of the momentum wheel 15, and controls the motor 14 to output motor rotation data corresponding to the attitude data and the rotation data by using a control algorithm, so that the motor 14 is controlled to drive the momentum wheel 15 to rotate, and the vertical self-balance of the motorcycle type robot is realized.
The automatic balancing device 7 of the motorcycle type robot according to the present invention and the motorcycle type robot constitute a single-dimensional inverted pendulum structure having two-point support, as shown in fig. 3. In fig. 3, 17 is a momentum wheel connected to a rotor of the motor, 18 is a support bracket connected to a stator of the motor, 19 is a bracket rotating shaft, 20 is a fixed plane, and 21 is a momentum wheel rotating shaft. The momentum wheel 17 and the support bracket 18 are connected through a momentum wheel rotating shaft 21; the support bracket 18 and the fixed plane 20 are connected by a bracket rotating shaft 19. Considering 17, 18 and 21 as a whole a, 19 and 20 constitute an inverted pendulum system.
The momentum exchange principle of the inverted pendulum system is as follows: when the clockwise rotation speed of the momentum wheel 17 is increased, the clockwise rotation momentum of the momentum wheel 17 is increased, and the support bracket 18 increases the counterclockwise rotation momentum according to the momentum conservation principle. Since the support bracket 18 and the bracket rotation shaft 19 are connected together and the bracket rotation shaft 19 is not movable, the bracket rotation shaft 19 generates a clockwise rotation momentum to the support bracket 18, so that the support bracket 18 rotates clockwise relative to the bracket rotation shaft 19. Similarly, when the counterclockwise rotation speed of the momentum wheel 17 is increased, the support bracket 18 rotates counterclockwise with respect to the bracket rotation shaft 19. The support bracket 18 may be balanced by continuously adjusting the output momentum of the momentum wheel. In the automatic balancing apparatus and the motorcycle type robot according to the present invention, the momentum wheel 17 in fig. 3 corresponds to the momentum wheel 15 connected to the output shaft of the motor 14 in fig. 1 and 2, the support frame 18 corresponds to the body of the motorcycle type robot, the frame rotation shaft 19 corresponds to the contact point of the front wheel 1 and the rear wheel 8 with the ground in fig. 1, the fixed plane 20 corresponds to the ground in fig. 1, and the fixed plane 5 corresponds to the rotation shaft 16 of the momentum wheel in fig. 1 and 2. The automatic balancing device 7 of the motorcycle type robot and the motorcycle type robot provided by the invention realize the vertical self-balance of the motorcycle type robot according to the momentum conservation law by utilizing the momentum exchange principle in the inverted pendulum principle.
The principle of the automatic upright balance in the inclined static state of the motorcycle type robot having the automatic balance device 7 of the present invention will be described in detail below in conjunction with the inverted pendulum structure.
The coordinate system O-XYZ in the mathematical model of the self-balancing system formed by the inverted pendulum structure is shown in FIG. 3, and the dynamic model of the self-balancing system posture is
Wherein, thetab、θwThe rotation angles of the support bracket 18 and the momentum wheel 17 are respectively;
the angular velocities of rotation of the support bracket 18 and the momentum wheel 17, respectively;
the angular acceleration of the rotation of the support bracket 18 and the momentum wheel 17, respectively; lb、lwThe distances from the support bracket 18 and the momentum wheel 17 to the central point of the bracket rotating shaft 19 respectively; m isb、mwThe mass of the support bracket 18 and the momentum wheel 17, respectively; i isb、IwThe moment of inertia of the support bracket 18 and the momentum wheel 17 relative to the mass axis; cb、CwThe rotational friction coefficients of the support bracket 18 and the momentum wheel 17; g (═ 9.81 m/s)2) Acceleration of gravity at earth level, TmThe torque output by the motor.
Is provided with
Linearized near the origin:
in the formula (I), the compound is shown in the specification,
the relationship among the angle, the angular velocity and the angular acceleration of the vehicle body, the angular velocity and the angular acceleration of the momentum wheel and the output torque of the motor is given in the self-balancing system mathematical model, so that the output torque of the motor can be solved by acquiring the angle, the angular velocity and the angular acceleration of the vehicle body, and the angular velocity and the angular acceleration of the momentum wheel, so that the control of the motor on the rotation state of the momentum wheel is realized, and the self-balancing of the inverted pendulum structure can be realized. Based on the principle, the vertical self-balance of the motorcycle type robot can be realized.
In practical application, the self-balancing device further comprises a motor driver, a momentum wheel controller and a power supply, wherein the motor driver, the momentum wheel controller and the power supply are respectively electrically connected with a stator of the motor, and a rotor of the electronic is connected with the momentum wheel; the motor driver, the momentum wheel controller, the attitude collector and the vehicle body controller are integrated on a circuit board, and the circuit board is fixedly arranged on the vehicle body; the vehicle body controller transmits a control instruction to the momentum wheel controller, the momentum wheel controller controls the motor driver to drive the rotor of the motor to rotate, and the rotor of the motor drives the output shaft of the motor to rotate so as to drive the momentum wheel to rotate.
The attitude collector can be two groups of three-axis accelerometers and is used for detecting six groups of accelerations when the vehicle body inclines. The vehicle body controller can utilize the self-balancing system mathematical model to calculate the output torque of the motor according to the corresponding control algorithm by acquiring the six groups of accelerated speeds, so that the momentum wheel is driven to rotate by the motor to realize the vertical self-balancing of the motorcycle type robot.
Or, the attitude collector can also be two sets of triaxial accelerometers and two sets of triaxial gyroscopes, the two sets of triaxial accelerometers are used for detecting six sets of acceleration during the vehicle body inclination, and the two sets of triaxial gyroscopes are used for detecting six sets of angular acceleration during the vehicle body inclination. The vehicle body controller can utilize the self-balancing system mathematical model to calculate the output torque of the motor according to the corresponding control algorithm by acquiring the six groups of accelerated speeds and the six groups of angular accelerated speeds, so that the momentum wheel is driven to rotate by the motor to realize the vertical self-balancing of the motorcycle type robot.
Based on the automatic balancing principle of the automatic balancing device, the invention also provides an automatic balancing method of the motorcycle type robot, as shown in fig. 4, the method comprises the following steps:
step 401: acquiring the posture data of the inclination of the motorcycle type robot body;
step 402: calculating the inclination angle and the inclination angle speed of the vehicle body by utilizing an attitude measurement model according to the attitude data;
step 403: acquiring the current angular velocity of the momentum wheel;
step 404: determining a motor target torque by using a control algorithm according to the vehicle body inclination angle, the vehicle body inclination angle speed and the current angular speed;
step 405: controlling a motor to rotate according to the target torque of the motor, and simultaneously driving the momentum wheel to rotate by the motor to obtain corrected attitude data after the vehicle body is adjusted;
step 406: judging whether the corrected attitude data is equal to the upright self-balancing attitude data of the vehicle body or not to obtain a judgment result;
when the judgment result shows that the vehicle body is in the vertical self-balancing state, determining that the vehicle body is in the vertical self-balancing state;
and returning to the step of acquiring the attitude data of the body inclination of the motorcycle type robot when the judgment result indicates no.
Wherein, the step 402 can be realized by the following steps:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and solving the first derivative of the vehicle body inclination angle to obtain the vehicle body inclination angle speed.
The implementation method comprises the steps that when the attitude acquisition device is used for timing two groups of three-axis accelerations, six groups of accelerations when the vehicle body inclines are detected according to the accelerations, as shown in figure 5, figure 5 is an equivalent inverted pendulum structure diagram of the positions of the two groups of three-axis accelerometers arranged in the motorcycle type robot, the detection positions of the two groups of three-axis accelerometers are respectively marked by 1, 2, 3, 4, 5 and 6 in the figure, and the reading of the 6 groups of accelerations is A1,A2,A3,A4,A5,A6Then A is1,A2,A3,A4,A5,A6The relationship among the angle, angular velocity, and angular acceleration with the vehicle body is as follows:
A1＝0
A4＝0
wherein r is1、r2The distances from the mass centers of the two groups of three-axis accelerometers to the pivot point of the car body (namely the central point of the support rotating shaft 19) are respectively.
The vehicle body attitude motion equation can be determined according to the relation, and the angle of the inclined attitude of the vehicle body is obtained by solving the following steps:
and solving the first derivative of the angle of the inclined attitude of the vehicle body to obtain the angular velocity of the inclined attitude of the vehicle body. Therefore, the output torque of the motor can be calculated according to the self-balancing system attitude dynamics model, and the control of the momentum wheel is realized.
Alternatively, the step 402 may be implemented by:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and acquiring the vehicle body inclination angle and speed measured by a gyroscope.
The method is realized in such a way that when the attitude collector comprises two groups of three-axis accelerometers and two groups of three-axis gyroscopes, the two groups of three-axis accelerometers are used for detecting six groups of accelerated speeds when the vehicle body inclines, and the two groups of three-axis gyroscopes are used for detecting six groups of angular accelerated speeds when the vehicle body inclines.
The angle of the tilted attitude of the vehicle body is the same as the above-described implementation method, and the angular velocity for the tilted attitude of the vehicle body
The readings of the two groups of three-axis gyroscopes in the X-axis direction can be directly obtained, namely:
wherein, ω is1x、ω2xThe readings of the measured angular velocities of the two groups of three-axis gyroscopes in the X-axis direction are respectively obtained.
According to the implementation method, the output torque of the motor can be calculated according to the attitude dynamics model of the self-balancing system, so that the control of the momentum wheel is realized.
It should be noted that the control algorithm in the automatic balancing method includes any one of a PID control algorithm, a fuzzy control algorithm, an adaptive control algorithm, a robust control algorithm, and an active disturbance rejection control algorithm, that is, all control algorithms included in the classical and modern control theories can be applied to the automatic balancing method.
When the control algorithm in the automatic balancing method of the present invention is a PID control algorithm, the step of determining the target torque of the motor by using the PID control algorithm according to the vehicle body inclination angle, the vehicle body inclination angular velocity, and the current angular velocity specifically includes:
utilizing control equations in the PID control algorithm
Calculating the motor target torque; wherein, Tm(t) is the motor target torque, K1、K2、K3Are all control coefficients, θbd、
Respectively a reference angle of the vehicle body, a reference angular velocity of the vehicle body andthe reference angular velocity of the momentum wheel is theta in the adjustment control of the vehicle body in the vertical self-balancing statebd、
Are both 0; thetabIn order to set the angle of inclination of the vehicle body,
is the vehicle body tilt angular velocity, thetawIs the current angular velocity of the momentum wheel.
When the control algorithm in the automatic balancing method is an active disturbance rejection control algorithm, the control of the motor can be realized according to the active disturbance rejection control algorithm so as to realize the control of the momentum wheel and realize the vertical self-balancing of the motorcycle type robot. The control principle of the controller of the active disturbance rejection control algorithm is shown in fig. 6. The active disturbance rejection control algorithm uses the reference angle theta of the vehicle bodybdReference angular velocity of vehicle body
And reference angular velocity of momentum wheel
Inputting a reference value as the input of a control algorithm into a tracking differentiator to obtain processed input data; the vehicle body inclination angle, the vehicle body inclination angle speed and the current angular speed of the momentum wheel which are acquired by the attitude acquisition device are adjusted by the parameter b through the extended state observer and the system0And obtaining adjusted measurement attitude data after adjustment, and carrying out nonlinear combination on the processed data and the adjusted measurement attitude data to obtain control parameters of the motor, so as to realize the control of the rotation of the motor and further realize the vertical self-balance of the motorcycle type robot.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An automatic balancing device of a motorcycle type robot is characterized in that the automatic balancing device is applied to the motorcycle type robot, and the motorcycle type robot comprises a front wheel, a rear wheel and a vehicle body arranged between the front wheel and the rear wheel; the automatic balancing device is fixedly arranged on the vehicle body, the motorcycle type robot and the automatic balancing device form a single-dimensional inverted pendulum structure with two-point support, and the vertical self-balance of the motorcycle type robot is realized according to the momentum conservation law by utilizing the momentum exchange principle in the inverted pendulum principle; wherein the automatic balancing apparatus comprises:
the attitude collector is arranged on the vehicle body and used for detecting attitude data of left and right inclination of the vehicle body;
the axial direction of a rotating shaft of the momentum wheel is parallel to the advancing direction or the retreating direction of the motorcycle type robot, and the rotating direction of the momentum wheel is perpendicular to the advancing direction or the retreating direction of the motorcycle type robot;
the output shaft of the motor is connected with the rotating shaft of the momentum wheel to drive the momentum wheel to rotate;
the vehicle body controller is respectively connected with the attitude collector and the motor, acquires attitude data collected by the attitude collector and rotation data of the momentum wheel, and controls the motor to output motor rotation data corresponding to the attitude data and the rotation data by using a control algorithm so as to control the motor to drive the momentum wheel to rotate and realize the vertical self-balance of the motorcycle type robot, and the specific method comprises the following steps:
acquiring the posture data of the inclination of the motorcycle type robot body;
calculating the inclination angle and the inclination angle speed of the vehicle body by utilizing an attitude measurement model according to the attitude data;
acquiring the current angular velocity of the momentum wheel;
determining a motor target torque by using a control algorithm according to the vehicle body inclination angle, the vehicle body inclination angle speed and the current angular speed;
controlling a motor to rotate according to the target torque of the motor, and simultaneously driving the momentum wheel to rotate by the motor to obtain corrected attitude data after the vehicle body is adjusted;
judging whether the corrected attitude data is equal to the upright self-balancing attitude data of the vehicle body or not to obtain a judgment result;
when the judgment result shows that the vehicle body is in the vertical self-balancing state, determining that the vehicle body is in the vertical self-balancing state;
and returning to the step of acquiring the attitude data of the body inclination of the motorcycle type robot when the judgment result indicates no.
2. The automatic balancing device of claim 1, further comprising a motor driver, a momentum wheel controller and a power source, wherein the motor driver, the momentum wheel controller and the power source are electrically connected to a stator of the motor, respectively, and a rotor of the motor is connected to the momentum wheel; the motor driver, the momentum wheel controller, the attitude collector and the vehicle body controller are integrated on a circuit board, and the circuit board is fixedly arranged on the vehicle body; the vehicle body controller transmits a control instruction to the momentum wheel controller, the momentum wheel controller controls the motor driver to drive the rotor of the motor to rotate, and the rotor of the motor drives the output shaft of the motor to rotate so as to drive the momentum wheel to rotate.
3. The automatic balancing device of claim 2, wherein the attitude collector comprises two sets of three-axis accelerometers for detecting six sets of accelerations when the vehicle body is tilted.
4. The automatic balancing device of claim 2, wherein the attitude collector comprises two sets of three-axis accelerometers and two sets of three-axis gyroscopes, the two sets of three-axis accelerometers being used for detecting six sets of accelerations when the vehicle body is tilted, and the two sets of three-axis gyroscopes being used for detecting six sets of angular accelerations when the vehicle body is tilted.
5. An automatic balancing method of a motorcycle type robot, characterized in that the automatic balancing method is realized by the automatic balancing apparatus according to claims 1 to 4, the method comprising:
acquiring the posture data of the inclination of the motorcycle type robot body;
calculating the inclination angle and the inclination angle speed of the vehicle body by utilizing an attitude measurement model according to the attitude data, wherein the attitude measurement model comprises a vehicle body attitude motion equation and a momentum wheel rotation equation, and the vehicle body attitude motion equation is
Wherein, thetabTo the vehicle body inclination angle, A1,A2,A3,A4,A5,A6Six sets of accelerations detected for a three-axis accelerometer, where A1＝0,A4＝0；r1,r2The distances from the mass centers of the two groups of the three-axis accelerometers to the supporting points of the car body are respectively;
acquiring the current angular velocity of the momentum wheel;
determining a motor target torque by using a control algorithm according to the vehicle body inclination angle, the vehicle body inclination angle speed and the current angular speed;
controlling a motor to rotate according to the target torque of the motor, and simultaneously driving the momentum wheel to rotate by the motor to obtain corrected attitude data after the vehicle body is adjusted;
judging whether the corrected attitude data is equal to the upright self-balancing attitude data of the vehicle body or not to obtain a judgment result;
when the judgment result shows that the vehicle body is in the vertical self-balancing state, determining that the vehicle body is in the vertical self-balancing state;
and returning to the step of acquiring the attitude data of the body inclination of the motorcycle type robot when the judgment result indicates no.
6. The automatic balancing method according to claim 5, wherein the step of calculating a vehicle body inclination angle and a vehicle body inclination angle velocity from the attitude data using an attitude measurement model including a vehicle body attitude motion equation and a momentum wheel rotation equation specifically includes:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and solving the first derivative of the vehicle body inclination angle to obtain the vehicle body inclination angle speed.
7. The automatic balancing method according to claim 5, wherein the step of calculating a vehicle body inclination angle and a vehicle body inclination angle velocity from the attitude data using an attitude measurement model including a vehicle body attitude motion equation and a momentum wheel rotation equation specifically includes:
calculating the inclination angle of the vehicle body by utilizing the vehicle body attitude motion equation according to the acceleration in the attitude data;
and acquiring the vehicle body inclination angle and speed measured by a gyroscope.
8. The automatic balancing method of claim 5, wherein the control algorithm comprises any one of a PID control algorithm, a fuzzy control algorithm, an adaptive control algorithm, a robust control algorithm, and an active disturbance rejection control algorithm.
9. The automatic balancing method according to claim 5, wherein the control algorithm is a PID control algorithm, and the determining of the motor target torque using the control algorithm based on the vehicle body inclination angle, the vehicle body inclination angle speed, and the current angular speed specifically includes:
utilizing control equations in the PID control algorithm
Calculating the motor target torque; wherein, Tm(t) is the motor target torque, K1、K2、K3Are all control coefficients, θbd、
Respectively a reference angle of the vehicle body, a reference angular velocity of the vehicle body, and a reference angular velocity of the momentum wheel, theta being theta in the adjustment control of the vehicle body in an upright self-balancing statebd、
Are both 0; thetabIn order to set the angle of inclination of the vehicle body,
as the vehicle body tilt angular velocity,
is the current angular velocity of the momentum wheel.
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