摘要
针对无人驾驶自行车自平衡问题,提出了一种通过角动量守恒定律设计的角动量轮来使无人驾驶自行车能够长久地保持静态平衡。对自行车倾侧时进行动力学分析,确定角动量轮的最终控制方案。驱动系统方面,本文采用了M4内核32位的STM32F407ZGT6芯片,使用Odrive直接控制角动量轮转速。使用由三轴加速度计、三轴陀螺仪和一款微控制器集成的CH100姿态传感器获取自行车姿态信息;使用一阶低通滤波减少电机抖动对CH100陀螺仪测量数值的影响;使用二阶巴特沃斯滤波和卡尔曼滤波融合滤波将高频抖动滤波除去。最终调试的角动量轮静止平衡参数KP、KI、KD、最大输出、最大积分分别为-120、-1.0、-3000、28、10;直线行进参数KP、KI、KD、最大输出、最大积分分别为-100、0、-500、28、10;舵机控制参数KP、KI、KD、最大输出、最大积分分别为90、0、0、80、0。在Odrive参数中,角动量角轮的vel_ramp_rate为40,电机的vel_ramp_rate为8;角动量轮的vel_gain为0.035、电机的vel_gain为0.15。
Aiming at the self-balancing problem of unmanned bicycle,an angular momentum wheel designed by the law of conservation of angular momentum was proposed to keep the static balance of unmanned bicycle for a long time.The final control scheme of angular momentum wheel is determined by dynamic analysis of bicycle tilt.In terms of driving system,this paper adopts the 32 b STM32F407ZGT6 chip with M4 kernel,and uses Odrive to directly control the angular momentum wheel speed.Using the CH100 attitude sensor integrated with three-axis accelerometer,three-axis gyroscope and a microcontroller to obtain bicycle attitude information.A first-order low-pass filter is used to reduce the influence of motor jitter on the measured values of CH100 gyroscope.The high-frequency jitter filter is removed by the second order Butterworth filter and Kalman filter.Final debugged static balance parameters KP,KI,KD,maximum output and maximum integral of the angular momentum wheel are-120,-1.0,-3000,28 and 10 respectively;linear travel parameters KP,KI,KD,maximum output and maximum integral are-100,0,-500,28 and 10 respectively;steering gear control parameters KP,KI,KD,maximum output and maximum integral are 90,0,0,80 and 0 respectively.In Odrive parameters,Vel_ramp_rate of the angular momentum wheel is 40,and that of the motor is 8.The VEL_gain of the angular momentum wheel is 0.035 and that of the motor is 0.15.
作者
孟剑新
张海若
栗昊
李丹丹
MENG Jian-xin;ZHANG Hai-ruo;LI Hao;LI Dan-dan(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)
出处
《科技创新与生产力》
2023年第2期100-104,共5页
Sci-tech Innovation and Productivity
基金
东北林业大学国家级大学生创新创业计划资助项目(202210425642)。
关键词
角动量守恒定律
二阶巴特沃斯滤波
卡尔曼滤波
law of conservation of angular momentum
second order Butterworth filtering
Kalman filtering
