摘要
开发了一种由曲柄滑块机构控制的无人驾驶自行车系统。首先通过质点系相对于动轴的动量矩定理,并结合曲柄滑块机构的运动特性对自行车系统进行动力学分析,建立简化动力学模型;然后以STM32嵌入式微处理器为控制核心,外接Intel NUC6i7KYK小型PC主机、伺服控制单元、MPU-6050姿态传感器等进行了电控系统的设计;其次进行软件系统的设计,分别设计了系统操作界面,以及采用双闭环控制方法的思路设计了无人驾驶自行车系统直立稳定行走的控制算法;最后的样机试验结果验证了所设计的无人驾驶自行车系统可以实现在水平路面上的直立稳定行走,为进一步开展无人驾驶自行车系统平衡运动控制以及路径规划等提供帮助。
In this paper,the balance problem of bicycle is studied,and an unmanned self-driving bicycle system controlled by crank slider mechanism is designed and implemented.Firstly,the dynamic analysis of the bicycle system is carried out based on the momentum theorem of the mass system relative to the moving axis,and the kinematic characteristics of the crank slider mechanism is combined to establish the simplified dynamic model.Secondly,the STM32 embedded microprocessor is used as the control core,the Intel NUC6i7KYK small PC host,servo control unit and MPU-6050 attitude sensor are connected for electronic control system.Thirdly,the software system is designed,and is designed respectively the system operation interface,and using the idea of double closed-loop control method,designed the control algorithm of upright and stable walking of the unmanned bicycle system.Finally,the prototype test results verify that the designed unmanned self-driving bicycle system can achieve upright and stable walking on the horizontal road.It lays a foundation for the balance motion control and path planning of the unmanned self-driving bicycle system.
作者
刘佩佩
周亚丽
张奇志
徐鑫鑫
LIU Peipei;ZHOU Yali;ZHANG Qizhi;XU Xinxin(School of Automation,Beijing Information Science&Technology University,Beijing 100192,China;Beijing Volpuras Technology Co.,Ltd.,Beijing 100086,China)
出处
《实验室研究与探索》
CAS
北大核心
2021年第3期81-86,共6页
Research and Exploration In Laboratory
基金
国家自然科学基金资助项目(11672044)。
关键词
无人驾驶自行车
曲柄滑块机构
双闭环控制
unmanned self-driving bicycle
crank slider mechanism
double closed-loop control
