CN109240305A - Coaxial two wheels robot kinetic control system and method based on complementary filter - Google Patents
Coaxial two wheels robot kinetic control system and method based on complementary filter Download PDFInfo
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- CN109240305A CN109240305A CN201811219183.0A CN201811219183A CN109240305A CN 109240305 A CN109240305 A CN 109240305A CN 201811219183 A CN201811219183 A CN 201811219183A CN 109240305 A CN109240305 A CN 109240305A
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Abstract
The invention belongs to robot data processing technology fields, disclose a kind of coaxial two wheels robot kinetic control system and method based on complementary filter, data fusion is carried out to gyroscope in attitude transducer MPU6050 piece and accelerometer using the method for single order complementary filter, obtains posture inclination angle；Two wheel speed of robot is obtained by incremental encoder, while orbital path information is obtained by camera；Motor PWM control signal is controlled using PID closed loop control algorithm again, realizes dynamic equilibrium control.Using the integration technology of various control theoretical method, robot adaptive equalization ability is realized；Autonomous cruise system quick, smoothed bend using fuzzy+ratio control technology realization robot；Using wireless network transmission technologies such as 4G, Wi-Fi, efficiently and easily increases robot artificial intervention capacity, can be run under complex environment.
Description
Technical field
The invention belongs to robot data processing technology field more particularly to a kind of coaxial two wheels robots based on complementary filter
Kinetic control system and method.
Background technique
Currently, the prior art commonly used in the trade is such thatWith the continuous development of society, the application of robot needs more
It in depth studies, wherein service robot technology rapidly becomes one of research hotspot in robot field.Service robot institute
The industry covered is also that comparison is extensive, and in daily life, this kind of robot can be applicable to dining room and pass dish, company's transmitting text
Numerous occasions such as are carried in part and warehouse, by the arrangement for being set for work of program, the wherein robot in company and warehouse
Application can reduce the wastes of human resources, can also be improved working efficiency, and visitor can be increased to the robot in dining room
The freshness of people, to attract a large amount of traveller, with the economic benefit more increased.It is travelled for coaxial two wheels robot in single track
When have the characteristics that laterally it is small in size, turning radius is small etc., and movements are flexible, so that it is very suitable to above-mentioned service clearance narrow, and
And there are many workplaces of big corner, it can execution task flexibly and fast in such environment.
In conclusion problem of the existing technology is:How two-wheeled balances robot from cruise robot at present
Performance is more preferable, how robot is accurately tracked, which mode to carry out the motor control problems such as efficient human intervention by.
This programme, which is utilized respectively camera collection image and recognizer, makes robot accurately be tracked, by nothings such as 4G, Wi-Fi
Line network transmission technology efficiently carries out human intervention, adjustment Motion etc. to robot.
Solve the difficulty and meaning of above-mentioned technical problem:So that robot is accurately tracked, obtains to acquisite approachs information, mesh first
Preceding routing information have magnetic conductance, it is infrared track, electron-light cameraing head etc., there are environmental magnetic field interference problems for magnetic conductance, and infrared track reaches
Higher cost is then needed to high-resolution, so using electron-light cameraing head herein.Next to the image information of camera acquisition
It is handled, image information realizes Dynamic Binarization using big law, then filters off noise by Image erosion algorithm, obtains a frame
Ideal binary image uses image recognition algorithm again, plans following path.Obtain approach planning
Afterwards, the output of motor PWM signal is controlled by gyroscope and closed loop pid algorithm, robot is made to have higher track followability.
Under some complex environments, robot may need human intervention, adjustment Motion, the image of camera acquisition
It is efficiently transferred to remote control terminal by wireless network transmission technologies such as 4G, Wi-Fi, remote control terminal is in long-range controllers
Operation under, various movement instructions, adjustment Motion remotely can be exported to robot.Technique needs to consider wireless network
Transmission rate, stability of transmission technology etc..It needs to realize and the data of transmission is compressed, are verified and the machines such as packet loss repetition
System.
With the rapid propulsion of 4.0 strategy of industry, the intelligent positive rapid development of society.The present invention is emphatically to service-oriented
Double-wheel self-balancing robot Development of Intelligent Control System.The main contents of research include: to adapt to landform and center of gravity height variation
Adaptive equalization control system, autonomous cruise, the steady quick direction for crossing bend and speed control system and artificial remotely do
Pre- wireless communication surveillance system.Can apply includes dining room room service, intra-company's file transmits, factory floor cargo is carried,
The occasions such as intelligent wheel chair.Carry out the research significance in the field: the application range for expanding robot improves the control of robot
Level pursues the technology of world's sophisticated machine people, for country and Guangdong Province's economic development service etc., has most important theories and reality
Application value.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of, and the coaxial two wheels robot based on complementary filter moves control
System and method processed.
The invention is realized in this way a kind of coaxial two wheels robot motion control method based on complementary filter, described to be based on
The coaxial two wheels robot motion control method of complementary filter includes: the method using single order complementary filter to attitude transducer MPU605
Gyroscope and accelerometer carry out data fusion in piece, obtain posture inclination angle；Robot two-wheeled is obtained by incremental encoder
Speed, while orbital path information is obtained by camera；Again using PID closed loop control algorithm to motor PWM control signal into
Dynamic equilibrium control is realized in row control.
Further, the balance of the coaxial two wheels robot motion control method based on complementary filter is controlled according to current pose
Inclination angle and system give the deviation at targeted attitude inclination angle, control the positive and negative of motor by PID control output pwm signal and are conveyed to put down
Weighing apparatus state.
Further, the coaxial two wheels robot motion control method attitude angle based on complementary filter, which calculates, includes:
Under rest equilibrium state, the reference zero of system balancing control relevant parameter is found out, the Y-axis of accelerometer is passed through
The accurately robot stationary posture angle Balance_Angle_Mid compared with Z axis is calculated according to formula (1) relative to the earth,
And by zero inclination angle as robot；It can get the zero angular velocity value Balance_GX_ of robot anteversion and retroversion by gyroscope X-axis
Mid, and as angular speed reference zero；First carrying out mean filter formula (2) to the data that accelerometer and gyroscope export makes
With；
Under moving equilibrium state, current angular velocity formula (3) multiply collection period T obtain angle variable quantity carry out again it is tired
Add, low-pass filtering is carried out to accelerometer output valve, gyroscope output valve carries out high-pass filtering, defeated to accelerometer X-axis and Z axis
Posture when being worth out first using first-order low-pass wave formula (4), then subtracting by the attitude angle of formula (1) calculating static balance
Angle B alance_Angle_Mid obtains current pose angle Banlance_Acc_Angle_Now；Single order complementary filter will be passed through
The fusion of formula (5) obtains the attitude angle Balance_Angle (t) that a tracking is fast, does not overshoot；K is gyro in formula (5)
Instrument trusts coefficient, and the integration percentage between gyroscope and accelerometer, Balance_Gx_AngleSpeed_ are adjusted by K
Now*T is that current gyro angular speed multiplies collection period to get angle variable quantity, and be added to the last attitude angle for merging out
It spends Balance_Angle (t-1), realizes that integral finds out attitude angle；
The control of robot balance ring uses position model PD control device formula (6), the departure Balnce_e=of balance ring
Attitude angle Balance_Angle subtracts the attitude angle Balance_ when system uniform motion mechanical zero of measured in advance
ZeroAngle；Using the value Balance_Gx_AngleSpeed_Now, the Balance_PWM of output of balance gyroscopic compass
(t) level signal half-and-half assigns both sides motor respectively；
* 180/ π (1) of θ=a tan 2 (AccY, AccZ)
Balance_Gx_AngleSpeed_Now=(Balance_Gx_Mid-Balance_Gx_Now)/LSB (3)
Y (n)=α * X (n)+(1- α) Y (n-1)
(4)
Balance_Angle (t)=(1-K) * Balance_Acc_Angle_Now
+K*(Balance_Angle(t-1)+Balance_Gx_AngleSpeed_Now*T) (5)
Balance_PWM (t)=(Balance_Angle (t)-Balance_ZeroAngle) * Balance_P+
Balance_Gx_AngleSpeed_Now*Balance_D (6)
In formula, AccY and AccZ=accelerometer Y-axis and Z axis output valve；Y (n-1)=last time filtering output value；Y (n)=
This filtering output value；X (n)=current sample values；T=uses the period.
Further, it is described used by oneself based on the speed control of the coaxial two wheels robot motion control method of complementary filter gear with
The encoder that motor is connected, when motor rotation is fixed, encoder will generate the pulse of fixed quantity, pass through the meter of single-chip microcontroller
When device carry out pulse and catch to grab and add up；The every 2ms of program obtains pulsatile once number and empties to cumulative；It is encoded using two-wheeled
The target pulse number that the value and preset every 2ms that the umber of pulse of device is added generate compares, and obtains departure；Filter off encoder mutation
Noise, the pulse collection of encoder use low-pass filtering formula (7), or so the filtered umber of pulse Encoder_ of encoder
Sum (t) is added, the left and right encoder overall pulse in 2ms collection period, the reference quantity Speed_Sum as substantive speed；It uses again
Preset target velocity umber of pulse Speed_Aim subtracts Speed_Sum acquisition speed departure Speed_e；Using serials control,
Speed output is converted to angle output by scale operation, speed_P is velocity deviation coefficient of discharge in formula (8), final to go here and there
In grade to balance ring, the balance ring control algolithm formula (6) for being superimposed speed ring becomes shown in following formula (9):
Encoder_Sum (t)=0.01*Encoder_New (t)+0.99*Encoder_Sum (t-1) (7)
Speed_Angle=Speed_e*Speed_P (8)
Balance_PWM (t)=
(Balance_Angle(t)-Balance_ZeroAngle-Speed_Angle)*Balance_P+
Balance_Gx_AngleSpeed_Now*Balance_D (9)。
Further, the direction controlling of the coaxial two wheels robot motion control method based on complementary filter is public using PD control
Formula (10), by camera collection image, using related algorithm to robot after runway route is planned with robot from
Body current location relatively obtains a departure Dir_e, and gyroscopic compass is used as the variable quantity Dir_ec of departure just；With
Positive and negative form is added to the pwm control signal of left and right motor, formula (11) and formula (12), and Left_PWM is left electricity in formula
Machine PWM output signal, Right_PWM are right motor PWM output signal:
Dir_PWM=Dir_e*Dir_P+Dir_ec*Dir_D (10)
Left_PWM=Balance_PWM*0.5+Dir_PWM (11)
Right_PWM=Balance_PWM*0.5-Dir_PWM (12).
Further, the coaxial two wheels robot motion control method based on complementary filter specifically includes: microcontrol processor
After powering on, progress I/O, sensor initializing first；Then by acquiring the attitude angle under static balancing and gyroscope output valve,
As the reference zero under system motion balance；The calculating of athletic posture angle and balance ring control, the control of direction ring, speed ring
Control, velocity feedback acquisition will be placed in 1ms timer interruption and executed, and 1ms timer is opened；The collection period of image compares
It is long, be not suitable for placing in 1ms timer interruption, so placing in the endless loop in main function, serial ports receives and dispatches Debugging message
It places at this, after 1ms timer interruption enters, counter T realizes that timesharing executes different tasks in turn from adding 1.
Another object of the present invention is to provide the coaxial two wheels robot motion control methods described in one kind based on complementary filter
The coaxial two wheels robot kinetic control system based on complementary filter, the coaxial two wheels robot motion control system based on complementary filter
System includes:
Microcontrol processor connect with attitude transducer, incremental encoder, camera, direct current generator drive module, is
The core component for controlling robot, by handling the information that robot sensor inputs, the movement mould for the people that operates machine
Block makes robot normal operation；
Power management module, with microcontrol processor, power management module, attitude transducer, incremental encoder, camera shooting
Head, the connection of direct current generator drive module, the right direct current generator, provide the corresponding mark of needs for robot sensor, action module
Quasi- power supply；
Attitude transducer, for obtaining robot pose raw information；
Incremental encoder, for obtaining two wheel speed of robot；
Camera, for obtaining orbital path information；
Direct current generator drive module is connect, for microcontrol processor with left side direct current generator, the right direct current generator
PWM motor control signal amplifies, and is ultimately converted to driving motor voltage；
Left side direct current generator, the right direct current generator make Robotic Dynamic movement reach equilibrium state.
Another object of the present invention is to provide the coaxial two wheels robot motion controls described in a kind of application based on complementary filter
The dining room room service system of method.
Another object of the present invention is to provide the coaxial two wheels robot motion controls described in a kind of application based on complementary filter
The intelligent wheel chair of method.
Another object of the present invention is to provide the coaxial two wheels robot motion controls described in a kind of application based on complementary filter
The hazardous materials transportation system of method.
In conclusion advantages of the present invention and good effect are as follows:In software control in self-balancing system, it will use more
The integration technology of kind control theory method, realizes robot adaptive equalization ability.It is multiple using one kind in autonomous cruise system
Image processing techniques to acquisite approachs is closed, quick, the smoothed bend using fuzzy+ratio control technology realization robot.Long-range control
System fast and easily increases robot artificial intervention capacity, to make machine using wireless network transmission technologies such as 4G, Wi-Fi
People can run under complex environment.Double-wheel self-balancing robot of the present invention has suitable broad application prospect, exemplary service
Using including dining room room service, the transmission of intra-company's file, the carrying of factory floor cargo, intelligent wheel chair, scheduled bus, space are visited
Rope, battle reconnaissance, hazardous materials transportation, removal of mines fire extinguishing, toy etc., are especially suitable for the small application of narrow space, turning radius.
Detailed description of the invention
Fig. 1 is the coaxial two wheels robot kinetic control system structural representation provided in an embodiment of the present invention based on complementary filter
Figure；
In figure: 1, microcontrol processor；2, power management module；3, attitude transducer；4, incremental encoder；5, it images
Head；6, direct current generator drive module；7, left side direct current generator；8, the right direct current generator.
Fig. 2 is the coaxial two wheels robot motion control method flow chart provided in an embodiment of the present invention based on complementary filter.
Fig. 3 is the scenario simulation of design provided in an embodiment of the present invention.
Fig. 4 is power management module circuit diagram provided in an embodiment of the present invention.
Fig. 5 is MPU6050 module circuit diagram provided in an embodiment of the present invention.
Fig. 6 is motor-drive circuit figure provided in an embodiment of the present invention.
Fig. 7 is system motion Controlling model figure provided in an embodiment of the present invention.
Fig. 8 is system PID control closed loop configuration schematic diagram provided in an embodiment of the present invention.
Fig. 9 is balance control software algorithm processes block diagram provided in an embodiment of the present invention.
Figure 10 is speed control curve figure provided in an embodiment of the present invention.
Figure 11 is main program flow diagram provided in an embodiment of the present invention.
Figure 12 is 1ms timer interrupt program flow chart provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention is based on the single track walking coaxial two wheels robot kinetic control systems that microcontroller MK60FX512VLQ15 is realized；
First using the attitude angle of MPU6050 sensor detection robot to realize balance control, while being obtained by incremental encoder
The velocity interpolation speed control of robot is taken, secondly, realizing direction controlling by camera acquisition trajectory image.Realize utilization
Single order complementary filter algorithm merges gyroscope with the data of accelerometer, and passes through balance, speed and direction three
The control to motor is realized in PID closed-loop control, to realize movement and the static balance of system.The results show: in complexity
It cruises under path, walking that can be stable.Self-balancing system utilizes gyroscope (angular-rate sensor), angular transducer and volume
The fusion posture perception technology such as code device (velocity sensor), using the fusion skill of various control theory and software and hardware filtering method
Art.Autonomous cruise system, the control to direction, can be used single-line railway, right by CCD camera acquisition trajectory image information
Image is denoised, binaryzation, is extracted orbital path information, then control combination technology using fuzzy control+ratio, is realized smooth
Quickly cross bend.Tele-control system realizes robot transmission of video, multichannel using 4G+Wi-Fi wireless network transmission technology
The acquisition of sensor fuse information, achieves the purpose of real-time monitoring.
As shown in Figure 1, the coaxial two wheels robot kinetic control system provided in an embodiment of the present invention based on complementary filter includes:
Microcontrol processor 1, power management module 2, attitude transducer 3, incremental encoder 4, camera 5, direct current generator drive mould
Block 6, left side direct current generator 7, the right direct current generator 8.
Microcontrol processor 1 connects with attitude transducer 3, incremental encoder 4, camera 5, direct current generator drive module 6
It connects,
Power management module 2, with microcontrol processor 1, power management module 2, attitude transducer 3, incremental encoder
4, camera 5, direct current generator drive module 6, the right direct current generator 8 connect,
Attitude transducer 3,
Incremental encoder 4, for obtaining two wheel speed of robot；
Camera 5, for obtaining orbital path information；
Direct current generator drive module 6 is connect with left side direct current generator 7, the right direct current generator 8,
Left side direct current generator 7,
The right direct current generator 8,
As shown in Fig. 2, the coaxial two wheels robot motion control method provided in an embodiment of the present invention based on complementary filter includes
Following steps:
S201: gyroscope in attitude transducer MPU605 piece and accelerometer are carried out using the method for single order complementary filter
Data fusion obtains posture inclination angle in real time and accurately；
S202: two wheel speed of robot is obtained by incremental encoder, while orbital path letter is obtained by camera
Breath；
S203: motor PWM control signal is controlled using PID closed loop control algorithm again, realizes that the dynamic of system is flat
Weighing apparatus control.
Application principle of the invention is further described with reference to the accompanying drawing.
Run-time scenario of the invention is as shown in figure 3, the white runway comprising dark roadside, runway have cross, bend
Equal elements, wherein A, B, C represent different robots.
Power management module 2 of the invention is powered using the lithium battery of one piece of 7.2V, converted rear output 3.3V,
5.0V, 12.0V, 7.2V are respectively supplied to Sensor section, microcontroller, direct current generator driving and motor and use.Wherein 3.3V
Using TPS7333QDR voltage stabilizing chip, 5.0V realizes voltage conversion using TPS7350QDR voltage stabilizing chip.Fig. 4 is power management mould
Block circuit diagram.
Microcontrol processor is the MK60FX512VLQ15 of Freescale company production, it is a 32 processors,
Core architecture is ARM Contex M4, has FPU, can carry out overclocking, and included hardware adaptor is suitble to setting for balance control system
Meter demand.
Attitude transducer uses the MPU6050 of InvenSense company production, which is the inertia six of digital communication
Axle sensor can be used IIC with the communication of microprocessor and communicate, to read the accelerometer AD value and gyroscope angular speed of three axis
AD value, for the calculating of posture, when installation, should achieve the effect that more stable as close as possible to axle lower position.Design
As shown in Figure 5.
Incremental encoder uses the mini encoder of 1024 lines of Beijing dragon Qiu Zhineng scientific & technical corporation production, the coding body
Product is small, and weight only has 11~22 grams, and what is exported is digital signal, is encoded using AB phase, and per revolution exports 1024 letters
Number, meet very much the slim and graceful needs of balanced robot's weight.In order to reduce noise as far as possible, the installation of encoder should be as close as possible to vehicle
Shaft position is more stable to achieve the effect that.
Camera module uses OV7725 camera, and image output frame rate is up to 150 frames；Image resolution ratio is adjustable, this hair
It is bright to use resolution ratio 80X60；Image transmitting is stablized.
Direct current generator driving is controlled using pwm signal, makes the motor of microcontroller using 74LVC254 chip first
Drive control I/O is isolated with motor driven, interference when avoiding motor movement to microcontroller；Secondly HIP4082 core is used
The metal-oxide-semiconductor of piece and model IRLR7843 are combined into H bridge with driving motor；It is also needed again using B0512S-1W power module
5V is boosted into 12V, is powered for 12V needed for HIP4082 chip, which has the characteristics that peripheral circuit is simple.
As shown in Figure 6.
The motion control of single track two-wheeled balanced robot constitutes (its model is as shown in Figure 7) by three tasks, respectively flat
Weighing apparatus control, speed control and direction controlling.Balance control is to reach equilibrium state by controlling motor positive and inverse.Speed control is real
Matter is the acceleration and deceleration for changing robot itself inclination angle to realize speed.Direction controlling is by controlling two turbin generator differential realities
Now turn.The present invention uses the PID control structure of three closed loops, as shown in Figure 8.
Balancing control algorithm of the invention is the deviation that targeted attitude inclination angle is given according to current pose inclination angle and system, is led to
The positive and negative being conveyed to equilibrium state of PID control output pwm signal control motor is crossed, control is balanced under motion state of the invention
Software algorithm processes block diagram is as shown in Figure 9.
Balance control top priority is to calculate the metastable attitude angle of essence as can be seen from Figure 9.After system starting, appearance
State angle calculating step is as follows:
Under rest equilibrium state, the reference zero of system balancing control relevant parameter is found out.1) pass through accelerometer
Accurately robot stationary posture angle compared with two axis (Y-axis is with Z axis) can calculate one relative to the earth according to formula 1
Balance_Angle_Mid, and as zero inclination angle of robot (i.e. static balance point)；2) it can be obtained by gyroscope X-axis
The zero angular velocity value Balance_GX_Mid of robot anteversion and retroversion is obtained, and as angular speed reference zero.But in order to prevent
Noise is generated because exterior shakes, the data exported to accelerometer and gyroscope is needed first to carry out mean filter
It is reused after (formula 2).
Under moving equilibrium state.Because the value of accelerometer is influenced by the acceleration etc. for moving itself, high frequency can be generated and made an uproar
Sound, and gyroscope calculates attitude angle using the method that angular speed integrates, i.e. current angular velocity (being found out by formula 3) multiplies
Collection period T obtains angle variable quantity and adds up again, and long term simulation is inherently missed because small deviation or drift generate integral
Difference, so low-pass filtering must be carried out to accelerometer output valve as shown in Figure 10, gyroscope output valve carries out high-pass filtering, this hair
Attitude angle that is bright that accelerometer X-axis and Z axis output valve are first used first-order low-pass wave (formula 4), then being calculated by formula 1
Attitude angle (Balance_Angle_Mid) when subtracting static balance obtains current pose angle Banlance_Acc_
Angle_Now.Finally the attitude angle that a tracking is fast, does not overshoot will be obtained by the fusion of single order complementary filter (formula 5)
Balance_Angle(t).K is that gyroscope trusts coefficient in formula 5, and melting between gyroscope and accelerometer is adjusted by K
Composition and division in a proportion example, Balance_Gx_AngleSpeed_Now*T are that current gyro angular speed multiplies collection period to get angle change
Amount, be added to the last attitude angle Balance_Angle (t-1) for merging out, realizes that integral finds out attitude angle.
The control of robot balance ring, using position model PD control device formula 6, the departure of balance ring in formula
Balnce_e=attitude angle Balance_Angle subtracts the attitude angle when system uniform motion mechanical zero of measured in advance
Given statokinetic inclination angle in Balance_ZeroAngle, i.e. Fig. 8.It is brought to eliminate ratio control P=Balance_P
Low frequency significantly shake, it is also necessary to differential control D=Balance_D disappears, and gyroscope is sensitively to pass very much
Sensor, and the gyroscope output for balancing direction is angular speed, the precisely differential of angle, so it uses balance direction gyro
The value Balance_Gx_AngleSpeed_Now of instrument, Balance_PWM (t) level signal finally exported half-and-half assign respectively
Both sides motor.
* 180/ π (1) of θ=a tan 2 (AccY, AccZ)
Balance_Gx_AngleSpeed_Now=(Balance_Gx_Mid-Balance_Gx_Now)/LSB (3)
Y (n)=α * X (n)+(1- α) Y (n-1)
(4)
Balance_Angle (t)=(1-K) * Balance_Acc_Angle_Now
+K*(Balance_Angle(t-1)+Balance_Gx_AngleSpeed_Now*T) (5)
Balance_PWM (t)=(Balabce_Angle (t)-Balance_ZeroAngle) * Balance_P+
Balance_Gx_AngleSpeed_Now*Balance_D (6)
In formula, AccY and AccZ=accelerometer Y-axis and Z axis output valve；Y (n-1)=last time filtering output value；Y (n)=
This filtering output value；X (n)=current sample values；T=uses the period.
Speed control algorithm of the invention, the execution of speed control is substantially the target-angle of change balance control to obtain
The acceleration for taking advance or retrogressing realizes the variation of speed.The control feedback of speed, which is connected to the motor come gear of using by oneself, to be connect
Encoder, when motor rotation is fixed, encoder will generate the pulse of fixed quantity, carry out pulse by the timer of single-chip microcontroller
It catches to grab and add up.The every 2ms of program obtains pulsatile once number and empties to cumulative.Umber of pulse essence is not converted into herein
Speed unit cast out error because can generate, but directly using two turns encoders umber of pulse be added value with it is preset
The target pulse number comparison that every 2ms is generated, obtains departure.Wanting to be precisely controlled due to the speed control of coaxial two wheels robot is ten
Divide difficulty, can be only sustained in a certain range, speed control controls P only with pure ratio, and one angle of final output is folded
It is added on the target-angle of balance control.The output at speed inclination angle cannot be excessive, not so can cause the significantly change at system inclination angle
Change, not only influences Equilibrium Equivalent Concentration, the data of the camera identification and gyroscopic compass of more influence direction ring.So will be to speed
The each output for spending inclination angle carries out clipping.The effect that the every 2ms of actual test at most changes 0.2 ° is relatively good, and speed control effect is fast
Speed.In order to filter off the noises such as encoder mutation, the pulse collection of encoder uses low-pass filtering (formula 7), or so encoder
Filtered umber of pulse Encoder_Sum (t) is added, i.e., the left and right encoder overall pulse in 2ms collection period, as substantive speed
The reference quantity Speed_Sum of degree.It is inclined that Speed_Sum acquisition speed is subtracted with preset target velocity umber of pulse Speed_Aim again
Residual quantity Speed_e.The present invention uses serials control, and speed output is converted to angle by scale operation and is exported, such as formula 8,
Speed_P is velocity deviation coefficient of discharge in formula, in final tandem to balance ring, so being superimposed the balance ring control of speed ring
Algorithmic formula 6 becomes shown in following formula 9.
Encoder_Sum (t)=0.01*Encode_New (t)+0.99*Encoder_Sum (t-1) (7)
Speed_Angle=Speed_e*Speed_P (8)
Balance_PWM (t)=
(Balance_Angle(t)-Balance_ZeroAngle-Speed_Angle)*Balance_P+
Balance_Gx_AngleSpeed_Now*Balance_D (9)
Direction controlling algorithm of the invention, ring control in direction uses PD control (formula 10), by camera collection image,
Using related algorithm to robot
A departure Dir_e is obtained compared with robot itself current location after runway route is planned, and it is square
It is used as the variable quantity Dir_ec of departure just to gyroscope.Finally with positive and negative form be added to left and right motor PWM control
Signal, such as formula 11 and formula 12, Left_PWM is left motor PWM output signal in formula, and Right_PWM is right motor PWM
Output signal:
Dir_PWM=Dir_e*Dir_P+Dir_ec*Dir_D (10)
Left_PWM=Balance_PWM*0.5+Dir_PWM (11)
Right_PWM=Balance_PWM*0.5-Dir_PWM (12)
As shown in figure 11, system controlling software of the invention design after microcontrol processor powers on, progress I/O first, passes
The initialization of sensor etc..Then it by acquiring the attitude angle under static balancing and gyroscope output valve, is balanced as system motion
Under reference zero.The calculating of athletic posture angle and balance ring control, the control of direction ring, speed ring controls, velocity feedback is adopted
Collection will be placed in 1ms timer interruption and be executed, and period control can accurately be realized, so needing to open 1ms timer.Image
Collection period is long, is not suitable for placing in 1ms timer interruption, so placing in the endless loop in main function, serial ports is received
Hair Debugging message is also placed at this.As shown in figure 12, after 1ms timer interruption enters, counter T realizes timesharing in turn from adding 1
Different tasks is executed, task number is 2 in the present invention, that is, 2ms completes one cycle, frequency 500Hz.When in order to make
Between reasonable distribution, each task execution time must not exceed 1ms, so needing to measure whether the time that each task is completed is less than
1ms, can be by the reversion of I/O level, such as I/O mouthfuls of output high level before entering task, and when completion then exports low electricity
It is flat, then by observation oscilloscope, Digital Logic Analyzer observe the I/O level waveforms it can be concluded that measurement task execution
Time.
Application effect of the invention is explained in detail below with reference to test.
The adjustment process of parameter K in attitude angle fusion, parameter K is for adjusting merging between gyroscope and accelerometer
Ratio show that, when gyroscope trust coefficient is too small, attitude angle is easy to appear overshoot condition by experiment.And when excessive, then go out
Existing posture angle tracking is excessively slow.
In normal phenomenon waveform of the invention, when K value adjusts appropriate, overshoot will not be both generated, tracking will not delay
Slowly, angle output is stablized smooth.
In the slow phenomenon waveform of tracking of the invention, when K value adjust it is excessive when, it may appear that the attitude angle finally merged with
Track is excessively slow, and system is caused to be unable to timely correction itself posture, and system can be very unstable, and can generate significantly low frequency pendulum
It is dynamic.
In overshoot phenomenon waveform of the invention, when the adjusting of K value is too small, it may appear that the attitude angle overshoot finally merged, no
Stablize.This is because accelerometer trust is excessive, under motion state, influenced by system self-acceleration, accelerometer generates very
More noises, noise just reacts in overshoot at this time, and overshoot will lead to the vibration that system generates high frequency.Made with MK60FX512VLQ15
Single order complementary filter has been used to merge accelerometer and gyroscope in order to realize the balance ring control of system for main control chip
Data, and describe entire fusion process, experiment test is analyzed with data, it is demonstrated experimentally that the robot system is stable,
It provides reference model for two-wheeled single track balanced robot's operating system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of coaxial two wheels robot motion control method based on complementary filter, which is characterized in that described based on complementary filter
Coaxial two wheels robot motion control method includes: the method using single order complementary filter to gyro in attitude transducer MPU6050 piece
Instrument and accelerometer carry out data fusion, obtain posture inclination angle；Two wheel speed of robot is obtained by incremental encoder, simultaneously
Orbital path information is obtained by camera；Motor PWM control signal is controlled using PID closed loop control algorithm again, it is real
Existing dynamic equilibrium control.
2. the coaxial two wheels robot motion control method based on complementary filter as described in claim 1, which is characterized in that the base
The appearance that sets the goal is given according to current pose inclination angle and system in the balance control of the coaxial two wheels robot motion control method of complementary filter
The deviation at state inclination angle controls the positive and negative of motor by PID control output pwm signal and is conveyed to equilibrium state.
3. the coaxial two wheels robot motion control method based on complementary filter as described in claim 1, which is characterized in that the base
Include: in the coaxial two wheels robot motion control method attitude angle calculating of complementary filter
Under rest equilibrium state, the reference zero of system balancing control relevant parameter is found out, the Y-axis and Z of accelerometer are passed through
Axis calculates the comparison accurately robot stationary posture angle Balance_Angle_Mid, and general relative to the earth according to formula (1)
Zero inclination angle as robot；It can get the zero angular velocity value Balance_GX_Mid of robot anteversion and retroversion by gyroscope X-axis,
And as angular speed reference zero；Mean filter formula (2) are first carried out to the data that accelerometer and gyroscope export to use；
Under moving equilibrium state, current angular velocity formula (3) multiplies collection period T and obtains angle variable quantity to add up again, right
Accelerometer output valve carries out low-pass filtering, and gyroscope output valve carries out high-pass filtering, to accelerometer X-axis and Z axis output valve
Attitude angle when first using first-order low-pass wave formula (4), then subtracting static balance by the attitude angle of formula (1) calculating
Balance_Angle_Mid obtains current pose angle Banlance_Acc_Angle_Now；Single order complementary filter formula will be passed through
(5) fusion obtains the attitude angle Balance_Angle (t) that a tracking is fast, does not overshoot；K is gyroscope letter in formula (5)
Appoint coefficient, the integration percentage between gyroscope and accelerometer, Balance_Gx_AngleSpeed_Now*T are adjusted by K
Multiply collection period for current gyro angular speed to get angle variable quantity, be added to the last attitude angle for merging out
Balance_Angle (t-1) realizes that integral finds out attitude angle；
The control of robot balance ring uses position model PD control device formula (6), the departure Balnce_e=posture of balance ring
Angle B alance_Angle subtracts the attitude angle Balance_ when system uniform motion mechanical zero of measured in advance
ZeroAngle；Using the value Balance_Gx_AngleSpeed_Now, the Balance_PWM of output of balance gyroscopic compass
(t) level signal half-and-half assigns both sides motor respectively；
* 180/ π (1) of θ=a tan2 (AccY, AccZ)
Balance_Gx_AngleSpeed_Now=(Balance_Gx_Mid-Balance_Gx_Now)/LSB (3)
Y (n)=α * X (n)+(1- α) Y (n-1) (4)
Balance_Angle (t)=(1-K) * Balance_Acc_Angle_Now+K* (Balance_Angle (t-1)+
Balance_Gx_AngleSpeed_Now*T) (5)
Balance_PWM (t)=(Balance_Angle (t)-Balance_Zero4ngle) * Balance_P+Balance_
Gx_AngleSpeed_Now*Balance_D (6)
In formula, AccY and AccZ=accelerometer Y-axis and Z axis output valve；Y (n-1)=last time filtering output value；Y (n)=this
Filtering output value；X (n)=current sample values；T=uses the period.
4. the coaxial two wheels robot motion control method based on complementary filter as described in claim 1, which is characterized in that the base
It is connected to the motor the encoder connect come gear of using by oneself in the speed control of the coaxial two wheels robot motion control method of complementary filter, electricity
When machine rotation is fixed, encoder will generate the pulse of fixed quantity, caught by the timer progress pulse of single-chip microcontroller and grab progress
It is cumulative；The every 2ms of program obtains pulsatile once number and empties to cumulative；Using two turns encoders umber of pulse be added value with
The target pulse number comparison that preset every 2ms is generated, obtains departure；It filters off encoder and is mutated noise, the pulse of encoder is adopted
Collection uses low-pass filtering formula (7), or so the filtered umber of pulse Encoder_Sum (t) of encoder be added, 2ms acquisition is all
Left and right encoder overall pulse in phase, the reference quantity Speed_Sum as substantive speed；Again with preset target velocity umber of pulse
Speed_Aim subtracts Speed_Sum acquisition speed departure Speed_e；Using serials control, speed output is transported by ratio
Calculation is converted to angle output, and speed_P is velocity deviation coefficient of discharge in formula (8), in final tandem to balance ring, has been superimposed speed
The balance ring control algolithm formula (6) of degree ring becomes shown in following formula (9):
Encoder_Sum (t)=0.01*Encoder_New (t)+0.99*Encoder_Sum (t-1) (7)
Speed_Angle=Speed_e*Speed_P (8)
Balance_PWM (t)=(Balance_Angle (t)-Balance_ZeroAngle-Speed_Angle) * Balance_
P+Balance_Gx_AngleSpeed_Now*Balance_D (9)。
5. the coaxial two wheels robot motion control method based on complementary filter as described in claim 1, which is characterized in that the base
PD control formula (10) are used in the direction controlling of the coaxial two wheels robot motion control method of complementary filter, are acquired by camera
Image obtains one compared with robot itself current location after runway route is planned to robot using related algorithm
Departure Dir_e, and gyroscopic compass is used as the variable quantity Dir_ec of departure just；It is added in positive and negative form and controls electricity
The pwm control signal of machine, formula (11) and formula (12), Left_PWM is left motor PWM output signal, Right_ in formula
PWM is right motor PWM output signal:
Dir_PWM=Dir_e*Dir_P+Dir_ec*Dir_D (10)
Left_PWM=Balance_PWM*0.5+Dir_PWM (11)
Right_PWM=Balance_PWM*0.5-Dir_PWM (12).
6. the coaxial two wheels robot motion control method based on complementary filter as described in claim 1, which is characterized in that the base
It specifically includes in the coaxial two wheels robot motion control method of complementary filter: after microcontrol processor powers on, progress I/O first, passing
Sensor initialization；Then by acquiring the attitude angle under static balancing and gyroscope output valve, as under system motion balance
Reference zero；The calculating of athletic posture angle and balance ring control, direction ring control, speed ring controls, velocity feedback acquires will
It places and is executed in 1ms timer interruption, open 1ms timer；The collection period of image is long, is not suitable for placing 1ms timing
Device interrupt in, so place main function in endless loop in, AccessPort information is also placed at this, 1ms timer interruption into
After entering, counter T, by judging the value of counter, realizes that timesharing executes different tasks in turn from adding 1.
7. a kind of coaxial two wheels robot motion control method based on complementary filter as described in claim 1 based on complementary filter
Coaxial two wheels robot kinetic control system, which is characterized in that the coaxial two wheels robot kinetic control system packet based on complementary filter
It includes:
Microcontrol processor is connect with attitude transducer, incremental encoder, camera, direct current generator drive module, is control
The core component of robot, by handling the information that robot sensor inputs, the action module for the people that operates machine makes
Robot normal operation；
Power management module, with microcontrol processor, power management module, attitude transducer, incremental encoder, camera,
Direct current generator drive module, the connection of the right direct current generator, provide the respective standard of needs for robot sensor, action module
Power supply；
Attitude transducer, for obtaining robot pose raw information；
Incremental encoder, for obtaining two wheel speed of robot；
Camera, for obtaining orbital path information；
Direct current generator drive module is connect, for the PWM to microcontrol processor with left side direct current generator, the right direct current generator
Motor control signal amplifies, and is ultimately converted to driving motor voltage；
Left side direct current generator, the right direct current generator make Robotic Dynamic movement reach equilibrium state.
8. a kind of coaxial two wheels robot motion control method using described in claim 1~6 any one based on complementary filter
Dining room room service system.
9. a kind of coaxial two wheels robot motion control method using described in claim 1~6 any one based on complementary filter
Intelligent wheel chair.
10. a kind of coaxial two wheels robot motion control method using described in claim 1~6 any one based on complementary filter
Hazardous materials transportation system.
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