KR100307694B1 - Apparatus for controlling a swing of an inverted pendulum using a hall sensor - Google Patents

Abstract

The present invention is to provide an inverted pendulum shake control device for controlling the shake of the inverted pendulum in two dimensions by using a Hall sensor, the device according to the present invention is provided with a permanent magnet 202 therein and a permanent magnet An inverted pendulum 201 having a pole 203 formed of a material capable of transferring magnetic flux generated from the permanent magnet 202 at a bottom thereof; A mounting plate 204 equipped with an inverted pendulum in a structure in which the pole point 203 is in contact; A plurality of Hall sensors 205 installed at the bottom of the mounting plate 204 so as to form a two-dimensional sensing region having the pole 203 as the center point; A robot 211 for controlling the swing of the inverted pendulum 201 while moving the mounting plate 204 in two dimensions; A personal computer 209 is provided which detects the current angle and angular velocity of the inverted pendulum 201 by signals output from each of the hall sensors 205 and provides a signal for controlling the movement of the robot 211. Therefore, it is possible to provide a two-dimensional inverted pendulum shake control device having a simple structure.

Description

Inverted pendulum shaking control device using Hall sensor {APPARATUS FOR CONTROLLING A SWING OF AN INVERTED PENDULUM USING A HALL SENSOR}

The present invention relates to a swing control device of an inverted pendulum, and more particularly, to a device for controlling the swing of an inverted pendulum on a two-dimensional plane by using a Hall sensor.

Pendulum is an example of an unstable system that requires nonlinear control. The unstable system here refers to a system that must be controlled.

The inverted pendulum is a pendulum in which shaking occurs from the upper side with respect to the central axis. Therefore, the inverted pendulum shake control device serves to control the inverted pendulum to form a right angle with the central axis by detecting the degree of inclination (or angle) above the pendulum with respect to the central axis. The conventional inverted pendulum shake control device is configured to control the inverted pendulum by measuring the shake angle of the inverted pendulum moving in one dimension by attaching an encoder or potentiometer to the end of the inverted pendulum.

FIG. 1 is a functional block diagram of an inverted pendulum shake controller for mounting an encoder at the end of an inverted pendulum and setting the inverted pendulum tilted to the right by an angle θ to a normal position. (101 ') is an inverted pendulum inclined by θ angle, (102) is an encoder mounted at the end of the inverted pendulum and detects the inclination degree of the inverted pendulum, and (103) is an inverted pendulum 101 , 101 'is a cart, 104 is a plate on which the cart is placed, 105 is a direct current for moving the cart 103 so that the tilted inverted pendulum 101' can be moved by θ. Direct-Current (hereinafter abbreviated as DC) server motor, 106 is an encoder for detecting the operating position of the DC server motor 105, and 107 is the encoder 106 is operated by the DC server motor 105 Rubber band connected to DC server motor 105, cart 103, and encoder 106 to detect position (108) is an encoder signal conversion unit for converting the encoded value detected by each of the encoders (102, 106) to digital, and (109) is a digital input / output (I / O) buffer 110 denotes the inclination angle θ of the current inverted pendulum 101 'and the DC server motor (the output value of the encoder 102 and the encoder 106 transmitted through the digital I / O buffer 109). Personal computer (Personal) that detects the position of the 105 and provides a movement amount control signal of the DC server motor 105 to control the shaking so that the inverted pendulum 101 'inclined by θ can be placed with (101) Computer (hereinafter, referred to as PC), and 111 denotes a digital / analogue (D) for converting a movement amount control signal of the DC server motor 105 transmitted from the digital I / O buffer 109 into an analog signal. / A) converter, 112 is a DC signal by the data transmitted from the D / A converter 111 It is a server amplifier that amplifies a predetermined value so that the burr motor 105 can be driven.

The inverted pendulum shake control device configured as described above can obtain the best result for the control of the inverted pendulum in which shaking is generated in one dimension. However, it is not suitable for controlling the shake of the inverted pendulum, which shakes in two dimensions. This is because detecting the inclination of the inverted pendulum in two dimensions is several times more complicated than detecting inclination of the inverted pendulum in one dimension.

For example, in the case of the encoder 102 attached to the end of the inverted pendulum 101 in order to detect the degree of shaking of the inverted pendulum in one dimension, the surface contacting with the cart 103 is serially divided for each contact point. It is possible to operate by assigning codes, but when detecting inclination information of the inverted pendulum in two dimensions, the encoder 102 mounted at the end of the inverted pendulum 101 may come into contact with the cart 103. Codes for each point of contact must be divided by dividing dimensionally, but it is difficult to implement because the partitioning process is not simple. In the case of using a potentiometer, it is simpler to implement than the above-described encoder, but has a disadvantage in that a large amount of noise is generated at a small inclination angle.

The present invention has been made to solve the above problems, and an object thereof is to provide an inverted pendulum shake control device for controlling the shake of the inverted pendulum in two dimensions by using a hall sensor.

In order to achieve the above object, the device according to the present invention includes a reverse pendulum having a pole formed of a material having a permanent magnet therein and a magnetic flux generated from the permanent magnet at the bottom of the permanent magnet; A two-dimensional plane equipped with an inverted pendulum in a structure in which the pole contacts; A plurality of Hall sensors provided in the X-axis and Y-axis directions, respectively, to form a two-dimensional sensing region having the pole as the center point at the bottom of the two-dimensional plane; A robot that controls the swing of the inverted pendulum while moving the two-dimensional plane two-dimensionally; And a processor that detects the current angle and the angular velocity of the inverted pendulum by signals output from each hall sensor and provides a signal for controlling the movement of the robot.

1 is a functional block diagram of a conventional inverted pendulum shake control device,

2 is a functional block diagram of the inverted pendulum shake control device according to the present invention,

3 is a diagram illustrating an arrangement of a hall sensor.

<Description of the symbols for the main parts of the drawings>

201: Pendulum 202: Permanent magnet

203: Pendulum pole 204: Mounting plate

205: Hall Sensor 206: Amplifier

207: A / D converter 208: Digital input / output buffer

209: Personal Computer (PC) 210: D / A Converter

211: Direct Drive 212: DC Drive Motor

Hereinafter, embodiments according to the present invention will be described in detail.

1 is a functional block diagram of an inverted pendulum shake control device according to the present invention, in which the inverted pendulum 201, the permanent magnet 202 in the inverted pendulum 201, the magnetic field 202 ′, and the inverted pendulum 201 203, an aluminum mounting plate 204 on which the inverted pendulum 201 is mounted in a structure where the poles 203 are in contact, a plurality of Hall sensors 205 and an amplifier 206 installed at the bottom of the mounting plate 204. ), Analog / digital converter (hereinafter referred to as A / D converter) 207, digital input / output (hereinafter referred to as I / O) buffer 208, digital / analog converter (hereinafter referred to as D / A converter) 210 The robot 211 includes a motor driver 212 and a direct driver motor 213 to control the movement of the mounting plate 204.

The inverted pendulum 201 is composed of a tube made of aluminum, and as shown in FIG. 2, the inverted pendulum can be formed at the lower end of the inverted pendulum 201 such that a magnetic field 202 ′ penetrating the mounting plate 204 can be formed. The permanent magnet 202 is installed inside the lower end of the 201, and the magnetic flux generated by the permanent magnet 202 is provided at the lower end of the permanent magnet 202 to be in contact with the mounting plate 204. The pole 203 is provided that can be delivered to. The pole 203 uses a material such as iron. The mounting plate 204 has a two-dimensional planar structure made of aluminum.

Hall sensors 205 are installed at the bottom of the mounting plate 204, respectively, the installation position is ± n points apart in the X and Y-axis direction, respectively, as shown in FIG. Accordingly, d1, d2, d3, and d4 shown in FIG. 3 have the same length. Also, the center point in FIG. 3 is the same as the point where the pole point 203 is in contact with the mounting plate 204. Therefore, the two-dimensional sensing region for the inverted pendulum 201 is formed by four Hall sensors 205 existing at the X1, X2, Y1, and Y2 points at the bottom of the mounting plate 204. That is, for the magnetic field formed around the inverted pendulum 201 such as 202 ', each hall sensor 205 outputs an analog signal corresponding to the strength of the magnetic flux detected at the corresponding position. The output analog signal is sent to the amplifier 206.

The amplifier 206 amplifies and transmits each analog signal output from the hall sensor 205 to a predetermined value. At this time, the amplifier 206 is configured to adjust the amplification factor using the resistance value. The sensing result signal of each amplified hall sensor 205 is transmitted to the A / D converter 207. The A / D converter 207 is composed of a 12-bit A / D converter and converts each amplified sensing result signal into a digital signal and outputs the digital signal. The digital I / O buffer 208 transmits the digital signal transmitted from the A / D converter 207 to the personal computer (hereinafter referred to as PC) 209.

The PC 209 detects the tilt angle and the angular velocity of the current inverted pendulum 201 using the respective sensing results transmitted from the digital I / O buffer 208. That is, the inclination direction and the degree (tilt angle) of the current inverted pendulum 201 are detected by using the sensing result received every sampling time (for example, 1 ms), and each speed is calculated using the difference between the sampling times. Detect. Then, a signal for controlling the amount of movement of the robot 211 is generated using the angle and the angular velocity with respect to the detected inverted pendulum 201. The PC 209 performing such an operation may be implemented in one processor structure.

The signal for controlling the movement amount of the robot 211 generated in the PC 209 is transmitted to the D / A converter 210 through the digital I / O buffer 208. The D / A converter 210 converts the applied control signal into an analog signal and transmits it to the robot 211.

The robot 211 compensates the inclination by α existing in the inverted pendulum 201 while moving the mounting plate 204 two-dimensionally by the control signal transmitted from the D / A converter 210, thereby mounting the mounting plate 204. It is adjusted so that the inverted pendulum 201 can maintain an angle of 90 degrees. In order to perform such an operation, the robot 211 has a structure in which a plurality of axes formed of a direct drive (also referred to as a DD) motor 213 and a motor driver 212 capable of rotating 360 degrees exist. . The robot 211 may be implemented such that an axis in consideration of redundancy exists. In addition, the above-described robot 211 may be implemented by a scalar robot.

As described above, the present invention includes a permanent magnet inside the inverted pendulum, and installs two Hall sensors in the X-axis and Y-axis directions at the bottom of a two-dimensional plane where the poles of the inverted pendulum contact each other. By detecting the tilt angle and the angular velocity of, and controlling the robot that can move the two-dimensional plane that the pole of the inverted pendulum is in contact with according to the detected result, it is more than implemented with the encoder. Not only can the inverted pendulum shake control device be implemented, but the cost of the device can be lowered, and the device can be more accurately obtained than the case of the potentiometer.

Claims (5)

An inverted pendulum having a permanent magnet therein and having a pole formed of a material capable of transferring magnetic flux generated from the permanent magnet at a lower end of the permanent magnet; A two-dimensional plane equipped with the inverted pendulum in a structure in which the pole contacts; A plurality of hall sensors provided in the X-axis and Y-axis directions, respectively, to form a two-dimensional sensing region having the pole as a center point at the bottom of the two-dimensional plane; A robot controlling the swing of the inverted pendulum while moving the two-dimensional plane two-dimensionally; And a processor for detecting a current angle and angular velocity of the inverted pendulum according to signals output from each of the hall sensors to provide a signal for controlling the movement of the robot. The method of claim 1, The reverse pendulum shake control device, characterized in that consisting of an aluminum tube, the material is made of iron. The method of claim 1, The Hall sensor is a pendulum shake control device, characterized in that installed in the X-axis and Y-axis direction relative to the center point, respectively, to form the two-dimensional sensing area. The method according to claim 1 or 3, The inverted pendulum shake control device, characterized in that the two-dimensional plane is made of aluminum material. The method of claim 1, The robot has a plurality of shafts, each axis is installed in a direct drive (Direct Driver) motor is installed in a structure that is operated by a control signal provided from the processor, the inverted pendulum shake control device.