Research on Dynamic Attitude Estimation and Control of Tricycle Based on MEMS Sensing

Yingjiao Rong, Weixuan Ding, Xinan Wang, G. Shi
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Abstract

Today’s science and technology develop rapidly with the passage of time. In the highly competitive environment, everyone’s time is twenty-four hours a day. No one can have more than one minute. Or less have a minute to go, so if you want to improve your competitiveness, efficient scheduling time is very important, people’s daily needs for efficiency are also growing. In the process of moving these vehicles, how to move the same distance with others in less time, this demand and efficiency can also be seen from the tools we now use to produce vehicles (such as tricycles).In the high-precision control system design of the self-balancing vehicle of the tricycle vehicle, in addition to the high-precision inclination sensor to measure the dynamic inclination angle, the steering control has an absolute value encoder to learn the angle of the steering of the tricycle body. More importantly, in addition to the rear axle drive system on the wheel of the tricycle body itself, we also installed a stepper motor to control the balance of the tricycle body, so that the tricycle body can be at a higher speed. Under the steady steering, the tricycle body will not roll over.Dynamic attitude measurement is a very important aspect in the design of high-precision control systems for self-balancing vehicles of tricycle vehicles. Because the motor is an open-loop system, we need to use the tilt sensor for attitude measurement to obtain high-precision angle values, and the obtained angle value and the motor form a closed-loop control system to achieve more precise motor control to control the tricycle body. balance. So we need to measure the angle change very accurately, because a single axial attitude tilt sensor can’t meet our requirements, and because there are too many shortcomings, we can’t get more accurate values in a dynamic environment, so we use A six-axis sensor that helps us get better precision and precision. Finally, we use the VEKF-based algorithm to eliminate the numerical inaccuracy caused by measuring the dynamic tilt angle, and thus obtain calculate the attitude of the self-balancing tricycle and eliminate the errors generated by the sensor. This algorithm can obtain accurate angle values and can be used in a dynamic environment to enable the self-balancing tricycle dynamic vehicle control system to operate stably.
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基于MEMS传感的三轮车动态姿态估计与控制研究
今天的科学技术随着时间的推移而迅速发展。在竞争激烈的环境中,每个人的时间都是一天24小时。每个人都不能超过一分钟。或者少一分钟就要走了,所以如果想要提高自己的竞争力,高效的调度时间是非常重要的,人们对效率的日常需求也越来越大。在移动这些车辆的过程中,如何在更短的时间内与他人移动相同的距离,这种需求和效率也可以从我们现在生产车辆所使用的工具(如三轮车)中看出。在三轮车自平衡车的高精度控制系统设计中,除了高精度倾角传感器测量动态倾角外,转向控制还有绝对值编码器来学习三轮车车身的转向角度。更重要的是,除了在三轮车本体的车轮上安装后桥驱动系统外,我们还安装了步进电机来控制三轮车本体的平衡,使三轮车本体能够以更高的速度运行。在平稳的转向下,三轮车的车体不会侧翻。动态姿态测量是三轮车自平衡车高精度控制系统设计中的一个重要方面。由于电机是开环系统,我们需要使用倾角传感器进行姿态测量,以获得高精度的角度值,并且获得的角度值与电机形成闭环控制系统,以实现更精确的电机控制来控制三轮车本体。平衡。所以我们需要非常精确地测量角度变化,因为单轴姿态倾斜传感器不能满足我们的要求,而且因为缺点太多,我们无法在动态环境中获得更准确的值,所以我们使用六轴传感器,帮助我们获得更好的精度和精度。最后,利用基于vekf的算法消除了测量动态倾斜角引起的数值误差,从而得到自平衡三轮车姿态的计算结果,并消除了传感器产生的误差。该算法可以获得精确的角度值,并可用于动态环境,使自平衡三轮车动态车辆控制系统稳定运行。
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