CN107600267B - A two-wheel monorail vehicle and its balancing control method - Google Patents

Abstract

The present invention provides a two-wheeled monorail vehicle and its balance control method. In the present invention, the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, and the motor drive subsystem according to Each signal in the coordinated motor drive signals controls the torque output of the corresponding motor, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to travel according to the travel target data. This method does not limit the state of the vehicle, that is, whether the vehicle is in a stopped state, a driving state, or a mutual switching state between a parking state and a driving state, it can ensure that the vehicle is dynamically balanced and drives, which solves the existing automatic The two-wheeled monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the driving state or from the driving state to the parking state.

Description

A two-wheel monorail vehicle and its balancing control method

technical field

The invention relates to the field of two-wheel monorail vehicle control, and more specifically, relates to a two-wheel monorail vehicle and a method for controlling the balance thereof.

Background technique

Two-wheel monorail vehicles, such as electric bicycles and motorcycles, are more and more popular with users due to their high energy saving, low emission and low space occupancy rate, and the utilization rate of two-wheel monorail vehicles is increasing year by year.

When the driver is using the two-wheel monorail vehicle, in order to ensure the dynamic balance of the two-wheel monorail vehicle, a two-wheel monorail vehicle with automatic control balance is proposed. The controller on the two-wheel monorail vehicle with automatic control balance measures according to the sensor installed on the vehicle Based on the obtained vehicle driving data and driving target data, the multibody dynamics model and the underactuated system control method are used to control the turning motor and brake driver of the two-wheel monorail vehicle to achieve the dynamic balance of the two-wheel monorail vehicle.

The turning motor in the two-wheeled monorail vehicle with automatic control balance can only adjust the relative position of the body center of gravity and the wheel support point under the condition of non-zero speed, so the existing two-wheel monorail vehicle with automatic control balance, when the vehicle stops The dynamic balance cannot be maintained automatically when changing from the driving state to the driving state or from the driving state to the parking state.

Contents of the invention

In view of this, the present invention provides a two-wheeled monorail vehicle and its balance control method to solve the problem of the existing two-wheeled monorail vehicle with automatic balance control, when the vehicle is from a parking state to a driving state or from a driving state to a parking state. , the problem of dynamic balance cannot be maintained automatically.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A two-wheeled monorail vehicle, comprising a sensor subsystem, an embedded computer, and a motor drive subsystem; wherein, the motor drive subsystem includes a turning motor driver, a front wheel motor driver, and a brake driver installed on the front wheel and the rear wheel constitute;

The sensor subsystem is used to collect driving data and driving target data of two-wheeled monorail vehicles;

The embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and the driving target data;

The motor drive subsystem is used to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to travel according to the travel target data.

Preferably, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and the driving target data, it is specifically used for:

According to the driving data and the driving target data, based on a nonlinear dynamic model and a nonlinear control model, a coordinated motor driving signal is calculated and output.

Preferably, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and the driving target data, it is specifically used for:

According to the driving target data, the driver's desired path is calculated; wherein, the driving target data includes steering wheel information, brake pedal information and accelerator pedal information input by the driver;

According to the driving data collected by the sensor subsystem and the desired path, control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

Preferably, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and the driving target data, it is specifically used for:

According to the driving target data and the driving data collected by the sensor subsystem, control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

Preferably, when the motor drive subsystem is used to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, it is specifically used for:

The turning motor driver controls the torque output of the turning motor according to the turning driving signal in the coordinated motor driving signal;

The front wheel motor driver controls the torque output of the front wheel drive motor according to the front wheel drive signal in the coordinated motor drive signal;

The two brake drivers are used to control the torque output of the two brake motors according to the brake drive signal in the coordinated motor drive signal.

A method for controlling the balance of a two-wheel monorail vehicle, applied to a two-wheel monorail vehicle, comprising:

The sensor subsystem collects the driving data and driving target data of the two-wheeled monorail vehicle;

The embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data;

The motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to drive according to the driving target data.

Preferably, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and the driving target data, including:

According to the driving data and the driving target data, based on a nonlinear dynamic model and a nonlinear control model, a coordinated motor driving signal is calculated and output.

Preferably, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and the driving target data, including:

According to the driving target data, the driver's desired path is calculated; wherein, the driving target data includes steering wheel information, brake pedal information and accelerator pedal information input by the driver;

According to the driving data collected by the sensor subsystem and the desired path, control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

Preferably, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and the driving target data, including:

According to the driving target data and the driving data collected by the sensor subsystem, control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

Preferably, the motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, including:

The turning motor driver controls the torque output of the turning motor according to the turning driving signal in the coordinated motor driving signal;

The front wheel motor driver controls the torque output of the front wheel drive motor according to the front wheel drive signal in the coordinated motor drive signal;

The two brake drivers are used to control the torque output of the two brake motors according to the brake drive signal in the coordinated motor drive signal.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention provides a two-wheeled monorail vehicle and its balance control method. In the present invention, the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, and the motor drive subsystem according to Each signal in the coordinated motor drive signals controls the torque output of the corresponding motor, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to travel according to the travel target data. This method does not limit the state of the vehicle, that is, whether the vehicle is in a stopped state, a driving state, or a mutual switching state between a parking state and a driving state, it can ensure that the vehicle is dynamically balanced and drives, which solves the existing automatic The two-wheeled monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the driving state or from the driving state to the parking state.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the structural representation of a kind of two-wheeled monorail vehicle provided by the invention;

Fig. 2 is the partial structural representation of a kind of two-wheeled monorail vehicle provided by the present invention;

Fig. 3 is a method flowchart of a method performed by an embedded computer provided by the present invention;

Fig. 4 is a flow chart of a method for controlling the balance of a two-wheeled monorail vehicle provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

An embodiment of the present invention provides a two-wheel monorail vehicle, wherein the two-wheel monorail vehicle includes but not limited to vehicles with two wheels such as bicycles and motorcycles. In order for those skilled in the art to understand the structure of a two-wheel monorail vehicle more clearly, the structure of a two-wheel monorail vehicle is now introduced with reference to FIG. 1 . It should be noted that the structure of the two-wheeled monorail vehicle is not limited to the structure shown in FIG. 1 , but can also be other structures. In addition, the rear wheel in Fig. 1 is also equipped with a rear wheel drive motor, and the rear wheel may not be equipped with a rear wheel drive motor.

In Figure 1, two-wheeled monorail vehicles include:

Front wheel with front wheel drive motor and brake driver 1, electronic display unit 2, steering motor 3, electronic steering wheel 4, monorail vehicle body 5, wireless communication antenna 6, embedded computer 7, inertial sensor 8, navigation module 9, communication Module 10, rear wheel encoder 11, rear wheel 12 and front wheel encoder 13 with rear wheel drive motor and brake driver. In addition to the above components, the vehicle also includes an electronic accelerator pedal, wherein the electronic accelerator pedal is not shown in the figure.

Wherein, the front wheel 1, the electronic steering wheel 4, the monorail vehicle body 5 and the rear wheel 12 form the overall structure of the vehicle body. The electronic steering wheel 4 is used to manually control the driving direction of the vehicle, the front wheel drive motor and the rear wheel drive motor are used to drive the vehicle, the brake driver is used to stop the vehicle as soon as possible when braking, and the turning motor 3 is used to drive the vehicle when turning. Vehicle turns.

The electronic display unit 2 includes an LCD display screen, an LED image and an LED dot matrix display, and is mainly used for displaying driving data such as vehicle body rolling angle and turning angle. The wireless communication antenna 6 is used to transmit or receive electromagnetic waves.

The inertial sensor 8 is used to measure the vehicle body angular velocity vector and the vehicle body acceleration vector, and the front wheel encoder 13 is used to measure the front wheel turning angle, front wheel turning angle, front wheel turning angular velocity and front wheel turning angular velocity. Rear wheel encoder 11 is used for measuring rear wheel turning angle, rear wheel turning angle, rear wheel turning angular velocity and rear wheel turning angular velocity.

The navigation module 9 is used to realize the navigation of the vehicle path, wherein the navigation module 9 may be a GPS module. The communication module 10 is a module for communicating with an external device, and the external device may be a server or the like.

The embedded computer 7 is the key component to realize the balance of the vehicle. The embedded computer 7 outputs control signals to the steering motor and the front wheel drive motor. During driving, the embedded computer 7 continuously adjusts the rotation direction and speed of the steering motor to achieve the vehicle's Dynamic balance: In the stopped state, the embedded computer 7 instructs the turning motor to fix the vehicle at a large turning angle, and then continuously controls the direction and torque of the front wheel drive motor to achieve quasi-static balance.

It should be noted that the two-wheeled monorail vehicle can have several driving modes. The most common two-wheeled monorail vehicles are rear-wheel drive. Gasoline-powered vehicles use a power chain, or turning rod, to bring power to the rear wheels, which propel the vehicle forward. Electric monorail vehicles typically use a hub-mounted motor to drive the rear wheels of the vehicle. Monorail vehicles running on rough mountain roads can also adopt two-wheel drive to reduce the probability of slipping and losing control of rear-wheel drive vehicles. The mechanical structure of a two-wheel drive monorail vehicle using a gasoline engine is relatively complicated, and it needs to transmit the driving power to the front wheels with a turning mechanism. The usual methods are the mechanical method of gears and chains and the hydraulic system method. Electric monorail vehicles can be simpler two-wheel drive method: use two hub motors on the front and rear wheels to drive the front and rear vehicles. Monorail vehicles can also be driven using only the front wheels. Although the front wheel 1 and the rear wheel 2 in this embodiment are equipped with drive motors, which belong to the two-wheel drive mode, the control method provided by the present invention can be applied to control the three driving modes of front-wheel drive, rear-wheel drive and two-wheel drive. model.

In addition, monorail vehicles are usually steered using the front wheels. Monorail vehicles can also be rear wheel steered. The control method is also applicable to the control of the self-balancing monorail vehicle with front wheel or rear wheel steering.

In this embodiment, the turning motor 3 is installed on the front wheel. In addition, the turning motor 3 can also be installed on the rear wheel, but it should be noted that when the number of driving motors is one, preferably, the turning motor and the driving The motor is installed on one wheel, but the control method in the present invention can also be realized without installing the turning motor and the driving motor on one wheel, but the overall performance of the vehicle is not as good as installing the turning motor and the driving motor on one wheel.

Two-wheeled monorail vehicles include electric bicycles and electric motorcycles. Electric bicycles and electric motorcycles usually consist of a body, a front fork that can steer, a front wheel, and a rear wheel. The vehicle is powered by a brushless motor mounted on the rear or front wheels. The turning of the vehicle is by the driver turning the handlebar, driving the front fork and the front wheel, and changing the forward direction of the front wheel. The computer-controlled self-balancing two-wheel monorail vehicle uses sensors, including inertial sensors and optical encoders, to measure the driving data of the two-wheel monorail vehicle, combined with the driver or the road trajectory determined in advance, and then uses the nonlinear dynamic model and nonlinear control The model controls the steering motor and the front wheel drive motor to drive the front fork and front wheel to achieve the dynamic balance of the vehicle.

Referring to FIG. 2 , the two-wheeled monorail vehicle provided by the present invention includes a sensor subsystem 11 , an embedded computer 12 and a motor drive subsystem 13 . The sensor subsystem 11, the embedded computer 12 and the motor drive subsystem 13 form a control system for the balance of the two-wheeled monorail vehicle.

Wherein, the motor driving subsystem 13 includes a turning motor driver, a front wheel motor driver and a brake driver installed on the front wheel and the rear wheel. Among them, the steering motor driver is installed on the front wheel.

The sensor subsystem 11 includes a navigation module, a front wheel encoder, a turning light encoder and an inertial sensor.

The embedded computer 12 is a computer equipped with control software, which is based on nonlinear dynamics and nonlinear control methods.

Specifically, the sensor subsystem 11 is used to collect the driving data and driving target data of the two-wheeled monorail vehicle;

An embedded computer is used to calculate and output coordinated motor drive signals according to driving data and driving target data;

The motor drive subsystem is used to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to drive according to the driving target data.

Specifically, the driving data includes:

Vehicle position information, vehicle speed, front wheel turning angle, front wheel turning angle, front wheel turning angular velocity, front wheel turning angular velocity, wheel turning angle and attitude angle information.

Wherein, the vehicle speed is measured by a navigation module installed on the vehicle. The navigation module can be a GPS module or other modules.

The front wheel turning angle, the front wheel turning angle, the front wheel turning angular velocity and the front wheel turning angular velocity are obtained by measuring the front wheel encoder, and the front wheel encoder may be a front wheel optical encoder. It should be noted that the rear wheel is also equipped with a rear wheel encoder. The function of setting the rear wheel encoder is to measure the rear wheel turning angle, rear wheel turning angle, rear wheel turning angular velocity and rear wheel turning angular velocity. The rear wheel encoder measures The data is to verify whether the data measured by the front wheel encoder is correct, so as to avoid errors in the measurement data when the front wheel encoder fails.

The turning angle of the wheel is measured by the turning optical encoder, and the turning optical encoder can also measure the turning angular velocity of the wheel.

The attitude angle information refers to the yaw angle, body roll angle and pitch angle of the vehicle. Specifically, the inertial sensor measures the vehicle body angular velocity vector and the vehicle body acceleration vector, the vehicle body angular velocity vector includes a yaw angular velocity component, a rolling angular velocity component and a pitch angular velocity component, and the vehicle body acceleration component includes a yaw angular acceleration component, a rolling angular acceleration component and a pitch angular acceleration component , and then calculate the yaw angle, roll angle and pitch angle of the vehicle according to the vehicle body angular velocity vector and the vehicle body acceleration vector.

The vehicle position information is obtained by combining the position information measured by the navigation module and the position information calculated according to the vehicle body angular velocity vector and the vehicle body acceleration vector.

Optionally, on the basis of this embodiment, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and driving target data, it is specifically used for:

According to the driving data and the driving target data, based on the nonlinear dynamic model and the nonlinear control model, the coordinated motor drive signal is calculated and output.

Wherein, the coordinated motor driving signal includes a front wheel driving signal, a braking driving signal and a turning driving signal.

Optionally, on the basis of this embodiment, when the motor drive subsystem is used to control the torque output of the corresponding motor according to each of the coordinated motor drive signals, it is specifically used for:

The turning motor driver controls the torque output of the turning motor according to the turning driving signal in the coordinated motor driving signal;

The front wheel motor driver controls the torque output of the front wheel drive motor according to the front wheel drive signal in the coordinated motor drive signal;

The two brake drivers are used to control the torque output of the two brake motors according to the brake drive signal in the coordinated motor drive signal.

In this embodiment, after the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, the motor drive subsystem controls the torque output of the corresponding motor according to each signal in the coordinated motor drive signal, so that The two-wheel monorail vehicle achieves dynamic balance and plans to drive according to the driving target data. This method does not limit the state of the vehicle, that is, whether the vehicle is in a stopped state, a driving state, or a mutual switching state between a parking state and a driving state, it can ensure that the vehicle is dynamically balanced and drives, which solves the existing automatic The two-wheeled monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the driving state or from the driving state to the parking state.

In order for those skilled in the art to further understand the nonlinear dynamic model and the nonlinear control model, the nonlinear dynamic model and the nonlinear control model are now explained.

Specifically, bicycles and motorcycles ignoring the front fork springs and rear shock absorbers satisfy the nonlinear underactuated manipulator equation with three degrees of freedom:

where q is the vehicle state vector, M is the 3x3 mass matrix, C is the 3x3 Coriolis/centrifugal force term, G is the gravity term, K is the moment coupling matrix, τ is the torque of the front wheel drive motor, brake motor and steering motor vector. Their expressions are:

The vehicle state is represented by q=(q ₁ , q ₂ , q ₃ ) ^T , which are body roll angle, wheel turning angle and front wheel turning angle, respectively. The matrix elements of the matrices M, C, G, K are known analytical functions of the body roll angle and the wheel turning angle. They are also related to the geometric and dynamic parameters of the vehicle, τ=(τ ₁ , τ ₂ , τ ₃ ) ^T are front wheel driving and braking torque, turning motor torque, rear wheel driving and braking torque, respectively.

Since the first row of the K matrix is 0, the moment τ has no effect on the body roll angle equation, so the body roll angle is underactuated. The nonlinear dynamic equation (1) is applicable to any front-wheel steering, front-wheel or rear-wheel drive, and two-wheel monorail vehicles with both front and rear wheels. It is also applicable to vehicles that are driving or parked. Because the angular velocity of the front wheel It can be positive or negative, and it doesn't limit whether the vehicle is moving forward or backward. A two-wheeled monorail vehicle is an underactuated system. Among the three degrees of freedom of the vehicle, only two degrees of freedom, the wheel turning angle and the front wheel turning angle, are actively controlled. Body roll angle, also called body lean angle, has no driving mechanism. There are many control methods for nonlinear underactuated systems, the most important ones are nonlinear optimal control (Nonlinear Optimal Control), partial feedback linearization (partial feedback linearization), neural network control (Neural Network Control), energy-based control (Energy Based Control) and sliding mode control (Sliding Mode Control). Most modern control methods require accurate modeling of vehicle dynamics.

Here we use nonlinear optimal control to illustrate the method of the invention. Nonlinear optimal control is a mature control method developed in the 1960s and 1970s, and was first used in rocket flight control. Given the cost function of the system, nonlinear optimal control calculates the optimal control variable u*(t) and state x*(t) over time, when the constraints of nonlinear dynamic equation (1) are satisfied Below, the cost function is minimized:

Among them, J is the system cost. x(t ₀ ) is the state of the vehicle at the start position, x(t _f ) is the state of the vehicle at the end position, t ₀ is the start time, and t _f is the end time. Here, the state refers to driving data.

and satisfy the constraints of the first-order kinetic equation

path constraints

p[x(t), u(t), t]≥0, (7)

Among them, the function P represents the path constraint function.

and edge constraints

b[x(t ₀ ), t ₀ , x(t f ), t _f ＝0. (8)

Among them, the function b represents the boundary condition constraint function.

Using the numerical iteration method, the solution of the nonlinear equation can be calculated: the optimal control quantity u*(t) is the front wheel drive and brake torque, the steering motor torque, and the rear wheel drive and brake torque of the system. The vehicle state x*(t) is the function of the vehicle position, body roll angle, wheel turning angle, and front wheel turning angle over time:

u=u*(t) (9)

x=x*(t) (10)

At present, the high-efficiency numerical method has the pseudospectrum method (pseudospectrum) to solve the nonlinear optimal control. The solution of nonlinear optimal control is related to the current vehicle position, body rolling angle, wheel turning angle, and front wheel turning angle, as well as the position that the vehicle needs to reach, body rolling angle, wheel turning angle, and front wheel turning angle. The optimal control method calculates the optimal control quantity (9) and the optimal state (10) of the vehicle according to the current state of the vehicle and the requirements of the user. This process is called feedforward. It is without feedback.

In fact, vehicle modeling errors, external disturbances, and changes in vehicle parameters will cause the vehicle to deviate from the optimal state. The invention designs a linear feedback system, eliminates errors and disturbances, and increases the stability of the system. Assuming that at time t, the actual state of the vehicle is x(t), the difference between it and the optimal control state is dx:

dx(t)=x(t)-x ⁸ (t). (11)

Usually the difference between the vehicle state and the optimal control vehicle state is very small, dx is a small amount, and the optimal control amount correction du is also a small amount. It can be shown that dx and du satisfy linear quadratic control:

Among them, Q and R are weight factors, which are fixed values, and S( _f ) is the terminal condition, such as position, body roll angle, wheel turning angle, front wheel turning angle, etc.

The dynamic equation constraint is also a linear shift expansion around the optimal control solution:

A and B matrices are Taylor expansions of nonlinear dynamic equations near the optimal solution x ⁸ (t). Optimal feedback control is related to vehicle state:

du(t)=-K(t)·dx(t)

Where K matrix is the feedback matrix, K(t)=R ^-1 B ^T S(t), and S(t) is the solution of differential Riccati equation:

The Riccati equation is solved from the future to the current time, so its initial conditions are determined at the final time:

S(t _f )=S _f (15)

Through the above calculation, the optimal control quantity u*(t) can be calculated, which is the front wheel driving and braking torque, turning motor torque and rear wheel driving and braking torque of the system. Through the front wheel driving and braking torque, turning motor Torque and rear wheel drive and braking torque can control the vehicle.

In this way, the control system can reject deviations such as disturbances and stabilize the vehicle system while anticipating reaching the user-specified position.

The invention can be used to realize the automatic driving of the two-wheel monorail vehicle. It is also possible to manually drive a two-wheeled monorail vehicle. In the automatic driving mode, the trajectory of the vehicle is determined by the navigation module, the camera and the communication module, among which the navigation module, the camera and the communication module belong to the components of the sensor subsystem. In manual driving mode, the trajectory of the vehicle is determined by the driver. The driver can use the electronic steering wheel, electronic brake pedal and electronic accelerator pedal to input the desired direction and speed of the vehicle. The embedded computer calculates the trajectory and control output of the vehicle based on the driver's input and sensor measurements, and controls the drive motor and turning. The motor achieves the balance of the vehicle when the monorail vehicle is running and stopped.

It should be noted that there are essential differences between the present invention and the currently commonly used monorail vehicle control method:

The prior art control method defines some degrees of freedom and calculates some control signals. The present invention uses dynamics and modern control methods to calculate the cooperative control output without restricting any degrees of freedom of the vehicle. The control signals u*(t) and du(t) of this system have the control signals of the front wheel drive motor and brake, the control signal of the turning motor, and the control signal of the rear wheel drive motor and brake. These signals work together at the same time to make the vehicle balance and stably reach the state and destination required by the user.

Optionally, on the basis of any of the above embodiments, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and driving target data, it is specifically used for:

S11. Calculate and obtain the driver's desired route according to the driving target data;

Wherein, the driving target data includes steering wheel information, brake pedal information and accelerator pedal information input by the driver.

Specifically, based on the steering wheel information, brake pedal information and accelerator pedal information, the embedded computer can infer the driver's desired path of the vehicle, that is, the user's next driving position can be inferred. Wherein, the desired route may be the route traveled in the next 10s.

This embodiment is suitable for manual driving of two-wheeled monorail vehicles. During manual driving, the manual will control the electronic brake pedal, electronic accelerator pedal and electronic steering wheel. The embedded computer can receive the manually input depth value of the electronic brake pedal, the depth value of the electronic accelerator pedal and the rotation value of the electronic steering wheel.

S12. According to the driving data collected by the sensor subsystem and the desired path, calculate and output the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers.

Specifically, by substituting the driving data and the desired path into the nonlinear dynamic model and the nonlinear control model, the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers can be calculated. In addition, the The time-varying curves of the body roll angle, the body yaw angle, and the front-wheel steering angle, wherein the control signals of the steering motor driver, the front-wheel motor driver and the two brake drivers are also time-varying curves.

Wherein, in this embodiment, the desired path is only the desired path within the next preset time of the current time, wherein the preset time may be 10s. Specifically, assuming that the vehicle travels from the starting point A to the destination B, at this time , if the desired path of the entire distance is calculated, because the vehicle may encounter obstacles such as stones or other road conditions during the entire driving distance, the vehicle cannot follow the desired path, and the desired path obtained at this time will no longer have Meaning, it is necessary to recalculate to obtain a new desired path, so it is not advisable to calculate the desired path for the entire distance. Therefore, this embodiment uses only the calculated 10s desired path, and when the 10s desired path is completed, then calculate the next A will path of 10s.

It should be noted that after calculating the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers, there is a gap between the actual running state of the vehicle and the driving target data, for example, the turning angle in the driving target data is 30 degrees, while the turning angle in the actual running status information of the vehicle is 28 degrees. Since the value in the driving target data is the optimal driving state of the vehicle under balance, it is necessary to correct the driving data of the two-wheeled monorail vehicle.

The specific correction process includes:

1) Substituting the desired path and driving data into the preset trajectory deviation correction formula to calculate the correction values of the control signals of the vehicle's steering motor driver, front wheel motor driver and two brake drivers.

Specifically, the desired path and driving data are substituted into the preset trajectory deviation correction formula, wherein the trajectory deviation correction formula is the above formula 11-15, combined with the trajectory deviation correction formula, nonlinear dynamic model and nonlinear control model, the The correction values of the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers can be obtained through calculation.

It should be noted that although the control is carried out according to the desired path, due to the influence of the external environment on the vehicle, such as encountering obstacles such as stones, or encountering strong winds, the driving state of the vehicle will change, and then the driving state of the vehicle needs to be adjusted. The status is corrected.

2) Adjust the output signals of the steering motor driver, the front wheel motor driver and the two brake drivers according to the correction values of the control signals of the turning motor driver, the front wheel motor driver and the two brake drivers, so that the vehicle can dynamically balance the vehicle according to the desired path.

After obtaining the correction values of the control signals of the turning motor driver, the front wheel motor driver and the two brake drivers, the output signals of the turning motor driver, the front wheel motor driver and the two brake drivers are adjusted to the corresponding control signal correction values, that is, the The vehicle is dynamically balanced according to the driving target data.

In this embodiment, a control method for manually driving a two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to this method to achieve dynamic balance.

Optionally, on the basis of the embodiment corresponding to FIG. 2, when the embedded computer is used to calculate and output a coordinated motor drive signal according to the driving data and driving target data, it is specifically used for:

According to the driving target data and the driving data collected by the sensor subsystem, the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

Specifically, the present invention is applicable to both automatic driving two-wheel monorail vehicles and manual driving two-wheel monorail vehicles. Introduced in this embodiment is the application of the present invention to a self-driving two-wheeled monorail vehicle.

The driving target data is input by an external device, wherein the driving target data may be the driving target data of a distance of 10s.

Then, the driving target data and the driving data collected by the sensor subsystem are substituted into the nonlinear dynamic model and the nonlinear control model, and the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated. In addition, the variation curves of body roll angle, body yaw angle, and front wheel turning angle can also be calculated, wherein the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are also changing curves.

It should be noted that, in this embodiment, it is also necessary to correct the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers. Let me repeat.

In this embodiment, a control method for automatically driving a two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to this method to achieve dynamic balance.

In the present invention, when the vehicle is running at a non _- zero speed, the control system automatically strengthens the control of the vehicle turning motor torque τ2, so that the front wheel or rear wheel turning angle can effectively adjust the vehicle body center of gravity relative to the front and rear wheel lateral positions. During normal driving, it can effectively realize the stable balance of the vehicle.

When the vehicle is at a low speed or is stationary, the turning angle of the front or rear wheels of the vehicle cannot adjust the relative position of the vehicle's center of gravity. However, when the rear wheels are driven, under a fixed large wheel turning angle, moving the vehicle forward and backward can adjust the relative position of the vehicle center of gravity equivalent to the wheel support point. The control system of the present invention automatically strengthens the torque control of the drive motors of the front wheels or the rear wheels, and the adjusted torques τ ₁ and τ ₃ of the drive motors of the front wheels and/or rear wheels realize the stable balance of the vehicle. Usually the vehicle is under a large wheel turning angle (such as +-45 degrees, or even +-90 degrees), the front wheel or rear wheel of the vehicle drives the motor to quickly and slightly adjust the position of the vehicle. If it is a monorail vehicle with front wheel steering, under the control of the front wheel drive motor torque τ ₁ , the vehicle can reach a stable balance. The nonlinear dynamic model calculation of the present invention shows that when the wheel turning angle is equal to 90 degrees, K ₃₃ =0. This is because when the wheel turning angle is 90 degrees, if the front wheels do not slip, the rear wheels cannot drive the vehicle forward and thus cannot be used to control the balance of the vehicle. Regardless of whether the front or rear wheels are used to control the balance of the vehicle, the embedded computer must be able to command the drive motor to quickly switch between forward and reverse. This instruction is absent in the automatic control of monorail vehicles traveling at non-zero speeds. If the vehicle is front-wheel drive or both front and rear wheels are driven, the static balance can be more effective: the computer-controlled automatic balance system can fix the wheel turning angle at 90 degrees or -90 degrees, and quickly adjust it according to the information measured by the sensor and the control algorithm The front wheel drive motor makes the body move slightly left and right to achieve the purpose of automatic balance.

When the vehicle starts or stops, the control method of the present invention smoothly switches between the two control modes. Installing the embedded computer with nonlinear control model, as long as the steering motor can be controlled, the vehicle can be kept in balance when the vehicle is running. At the same time, as long as the driving motor installed on the front wheel or the rear wheel can be controlled, the stable balance of the vehicle can be maintained when the vehicle is stopped. Even in the case of external disturbances, such as gusts of wind or artificially pushing the vehicle, the embedded computer can still adjust the driving motor of the vehicle, correct the roll angle of the vehicle body, and bring the vehicle to a balanced state.

In order for those skilled in the art to clearly understand the present invention, two examples of a human-driven vehicle and an automatic-driven vehicle are now used for explanation.

(1) Manually driven two-wheeled monorail vehicle

The two-wheeled monorail vehicle provided by the present embodiment mainly has 7 components: an obliquely long vehicle body, a front wheel with a steering motor mounted on the front portion of the vehicle body, a power-driven rear wheel mounted on the rear portion of the vehicle, a plurality of Sensors (including optical encoders and inertial sensors), electronic recorders, embedded computers with control software, and output components for controlling steering motors and driving motors. The body can be a fully enclosed unit with doors and seats, as well as an electronic display unit for driver's electronic control input and displaying the actual driving state information of the vehicle in the body.

The driver can join the interior of the vehicle, sit down in the seat, and activate the control system. After the embedded computer is started, the sensor starts to collect the driving data of the vehicle. When the driver steps on the electronic accelerator pedal, the embedded computer calculates the control signals of the front wheel drive motor and the steering motor according to the accelerator and steering wheel data input by the driver, and instructs the motor to The torque and direction of rotation can achieve the vehicle speed and vehicle driving direction required by the driver while balancing the vehicle. The embedded computer continuously uses the driving data collected by the sensor and the driver's input signal to repeatedly correct the state and position that the vehicle needs to reach, and continuously adjusts the torque of the steering motor to allow the vehicle to drive stably.

When the driver steps on the electronic brake pedal, the embedded computer updates the state of the vehicle in time, and uses the nonlinear dynamic model and nonlinear control model to calculate the optimal front and rear wheel braking torque and steering motor torque to maintain vehicle balance. Under certain conditions, reduce the speed of the vehicle safely and quickly. When the speed decreases to a threshold value, the embedded computer automatically switches to the quasi-static control mode. When a non-zero wheel turning angle is fixed, the electronic brake is released, and the torque and rotation direction of the front wheel drive motor are adjusted to achieve a quasi-static balance. This control method is suitable for temporary parking.

When the driver steps on the electronic accelerator pedal, the embedded computer updates the state of the vehicle, adjusts the steering motor, no longer adjusts the direction of the driving torque, increases the positive torque of the driving motor, and drives the vehicle forward.

The driver can know the driving status of the vehicle through the electronic LCD display. Use the electronic steering wheel to control the direction of the vehicle, and use the electronic brake pedal and electronic accelerator pedal to control the speed of the vehicle.

(2) Self-driving two-wheel monorail vehicle

A robot can be used to autonomously drive a two-wheeled monorail vehicle. The vehicle balance control system mainly has 8 components: the slanted body, the front wheels with steering motors and drive motors installed in the front of the vehicle, the rear wheels without drive motors installed in the rear of the vehicle, communication module, navigation Module, multiple sensors (including optical encoder, inertial sensor and video acquisition sensor), electronic recorder, embedded computer with control software, and control steering motor, the output of driving motor constitutes. The slanted body can transport people or goods.

The self-driving monorail vehicle plans the optimal route according to the information input by the user, or the destination and route information sent by the remote self-driving server through the communication module. The vehicle sensor measures the driving data of the vehicle, and the embedded computer calculates the turning motor. And the control signal of the front wheel drive motor to command the vehicle to run. The video acquisition sensor provides 3D real-time information on road conditions, and always finds obstacle information on the planned route. Based on the information, the embedded computer re-plans the route, or orders the vehicle to stop running, and the communication module sends the vehicle and road condition information to the remote automatic driving server. When the video acquisition sensor detects that the obstacle has disappeared, the embedded computer restarts the vehicle and drives to the destination.

Optionally, another embodiment of the present invention provides a method for controlling the balance of a two-wheeled monorail vehicle, which is applied to a two-wheeled monorail vehicle. Referring to FIG. 4 , it includes:

S21. The sensor subsystem collects the driving data and driving target data of the two-wheeled monorail vehicle;

S22. The embedded computer calculates and outputs a coordinated motor drive signal according to the driving data and the driving target data;

S23. The motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, so that the two-wheeled monorail vehicle achieves a dynamic balance and plans to travel according to the travel target data.

Optionally, on the basis of this embodiment, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and driving target data, including:

According to the driving data and the driving target data, based on the nonlinear dynamic model and the nonlinear control model, the coordinated motor drive signal is calculated and output.

Optionally, on the basis of this embodiment, the motor drive subsystem controls the torque output of the corresponding motor according to each of the coordinated motor drive signals, including:

The turning motor driver controls the torque output of the turning motor according to the turning driving signal in the coordinated motor driving signal;

The front wheel motor driver controls the torque output of the front wheel drive motor according to the front wheel drive signal in the coordinated motor drive signal;

The two brake drivers are used to control the torque output of the two brake motors according to the brake drive signal in the coordinated motor drive signal.

In this embodiment, after the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, the motor drive subsystem controls the torque output of the corresponding motor according to each signal in the coordinated motor drive signal, so that The two-wheel monorail vehicle achieves dynamic balance and plans to drive according to the driving target data. This method does not limit the state of the vehicle, that is, whether the vehicle is in a stopped state, a driving state, or a mutual switching state between a parking state and a driving state, it can ensure that the vehicle is dynamically balanced and drives, which solves the existing automatic The two-wheeled monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the driving state or from the driving state to the parking state.

It should be noted that, for specific explanations of the steps in this embodiment, please refer to the corresponding descriptions in the foregoing embodiments.

Optionally, on the basis of any of the above embodiments of the control method, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and driving target data, including:

According to the driving target data, the driver's desired path is calculated; wherein, the driving target data includes the steering wheel information, brake pedal information and accelerator pedal information input by the driver;

According to the driving data collected by the sensor subsystem and the desired path, the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers are calculated and output.

In this embodiment, a control method for manually driving a two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to this method to achieve dynamic balance.

It should be noted that, for specific explanations of the steps in this embodiment, please refer to the corresponding descriptions in the foregoing embodiments.

Optionally, on the basis of the embodiment corresponding to FIG. 4 above, the embedded computer calculates and outputs coordinated motor drive signals according to the driving data and driving target data, including:

According to the driving target data and the driving data collected by the sensor subsystem, calculate and output the control signals of the steering motor driver, the front wheel motor driver and the two brake drivers.

In this embodiment, a control method for automatically driving a two-wheel monorail vehicle is provided, and then the two-wheel monorail vehicle can be controlled according to this method to achieve dynamic balance.

It should be noted that, for specific explanations of the steps in this embodiment, please refer to the corresponding descriptions in the foregoing embodiments.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. one kind two takes turns single-track vehicle, which is characterized in that including sensor subsystem, inserted computer and motor driven subsystem System；Wherein, the Motor drive subsystem includes turning motors driver, front-wheel motor driver and is mounted on front wheels and rear wheels On brake actuators constitute；

The sensor subsystem, for acquiring the running data and traveling target data of two wheel single-track vehicles；

The inserted computer, for vehicle be in halted state, driving status or halted state and driving status it Between mutual switching state when, according to the running data and the traveling target data, calculate and export collaboration motor drive Dynamic signal；

The Motor drive subsystem controls corresponding motor for each signal in the motor drive signal according to collaboration Torque output, so that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema；

Wherein, in the case where vehicle is in halted state, the inserted computer control turning motors make vehicle be fixed on default turn Then bent angle persistently controls direction and the torque size of front-wheel drive motor torque, reaches quasi-static balance.

2. two wheels single-track vehicle according to claim 1, which is characterized in that the inserted computer is used for according to the row Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for:

According to the running data and the traveling target data, it is based on non-linear dynamic model and Nonlinear Control Model, Calculate and export the motor drive signal of collaboration.

3. two wheels single-track vehicle according to claim 1, which is characterized in that the inserted computer is used for according to the row Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for:

According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data include driving Sail steering information, brake pedal information and the gas pedal information of people's input；

According to the running data of sensor subsystem acquisition and the wish path, calculates and export turning motors drive The control signal of dynamic device, front-wheel motor driver and two brake actuators.

4. two wheels single-track vehicle according to claim 1, which is characterized in that the inserted computer is used for according to the row Data and the traveling target data are sailed, when calculating and exporting the motor drive signal of collaboration, are specifically used for:

According to the running data that the traveling target data and the sensor subsystem acquire, calculates and export turning motors The control signal of driver, front-wheel motor driver and two brake actuators.

5. two wheels single-track vehicle according to claim 1, which is characterized in that the Motor drive subsystem is used for according to association When each signal in same motor drive signal controls the torque output of corresponding motor, it is specifically used for: the turning motors Driver controls the torque output of turning motors according to the turning driving signal in the motor drive signal of the collaboration；

The front-wheel motor driver controls front-wheel drive according to the front-wheel drive signal in the motor drive signal of the collaboration The torque of motor exports；

Two brake actuators, for the brake driving signal in the motor drive signal according to the collaboration, control two The torque of a brake motor exports.

6. the control method that one kind two takes turns single-track vehicle balance, which is characterized in that be applied to two wheel single-track vehicles, comprising:

The running data and traveling target data of two wheel single-track vehicle of sensor subsystem acquisition；

When vehicle is in the mutual switching state of halted state, driving status either between halted state and driving status, Inserted computer calculates and exports the motor drive signal of collaboration according to the running data and the traveling target data；

Motor drive subsystem is exported according to the torque that each signal in the motor drive signal of collaboration controls corresponding motor, So that two wheel single-track vehicles reach dynamic equilibrium and travel according to traveling target data schema；

Wherein, in the case where vehicle is in halted state, the inserted computer control turning motors make vehicle be fixed on default turn Then bent angle persistently controls direction and the torque size of front-wheel drive motor torque, reaches quasi-static balance.

7. control method according to claim 6, which is characterized in that the inserted computer according to the running data and The traveling target data, calculate and export the motor drive signal of collaboration, comprising:

According to the running data and the traveling target data, it is based on non-linear dynamic model and Nonlinear Control Model, Calculate and export the motor drive signal of collaboration.

8. control method according to claim 6, which is characterized in that the inserted computer according to the running data and The traveling target data, calculate and export the motor drive signal of collaboration, comprising:

According to the traveling target data, the wish path of driver is calculated；Wherein, the traveling target data include driving Sail steering information, brake pedal information and the gas pedal information of people's input；

According to the running data of sensor subsystem acquisition and the wish path, calculates and export turning motors drive The control signal of dynamic device, front-wheel motor driver and two brake actuators.

9. control method according to claim 6, which is characterized in that the inserted computer according to the running data and The traveling target data, calculate and export the motor drive signal of collaboration, comprising:

According to the running data that the traveling target data and the sensor subsystem acquire, calculates and export turning motors The control signal of driver, front-wheel motor driver and two brake actuators.

10. control method according to claim 6, which is characterized in that the Motor drive subsystem includes turning motors Driver, front-wheel motor driver and the brake actuators being mounted in front wheels and rear wheels are constituted；The Motor drive subsystem The torque output of corresponding motor is controlled according to each signal in the motor drive signal of collaboration, comprising: the turning motors Driver controls the torque output of turning motors according to the turning driving signal in the motor drive signal of the collaboration；

The front-wheel motor driver controls front-wheel drive according to the front-wheel drive signal in the motor drive signal of the collaboration The torque of motor exports；

Two brake actuators control two brakes for the brake driving signal in the motor drive signal according to the collaboration The torque of vehicle motor exports.