基于相对姿态角控制的微型折叠电动车设计
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摘要
为解决城市通勤中最后一公里的问题,提出了一种使用智能手机接收操作意图,折叠操作更快捷,折叠后更方便携带、更节省收纳空间的微型电动车设计方案。对电动车进行了运动学建模,提出了基于相对姿态角的控制策略、基于互补滤波的姿态传感器数据整合方法、欧拉角跳变解决方法、误操作判定方法。最后结合Arduino和Android平台制作样机并测试。结果表明,通过横向和纵向的折叠能明显减少空间占用,基于相对姿态角的控制方法是可行的,这为微型电动车的控制设计提供了新的思路。
To help people move conveniently after getting off the public transport in the city, anew mini electric scooter design is proposed. This new scooter uses a smart mobile phone to receive driving intention and owns more efficient, convenient and space-saving folding pattern. A kinematics model of scooter is set up and discussed. A control strategy based on the relative attitude angle, an attitude sensor data consolidation approach based on the complementary filter, a solution to the Euler angle jumping and an estimate method to the wrong operation are proposed. The design is made into a prototype based on Arduino and Android platforms. The results of final tests show that the space occupation of this mini folding electric scooter can be reduced obviously through the horizontal and the vertical folding. The control strategy based on the relative attitude angle is proved to be feasible, which can provide new train of thought for control strategy design of mini electric scooter.
To help people move conveniently after getting off the public transport in the city, anew mini electric scooter design is proposed. This new scooter uses a smart mobile phone to receive driving intention and owns more efficient, convenient and space-saving folding pattern. A kinematics model of scooter is set up and discussed. A control strategy based on the relative attitude angle, an attitude sensor data consolidation approach based on the complementary filter, a solution to the Euler angle jumping and an estimate method to the wrong operation are proposed. The design is made into a prototype based on Arduino and Android platforms. The results of final tests show that the space occupation of this mini folding electric scooter can be reduced obviously through the horizontal and the vertical folding. The control strategy based on the relative attitude angle is proved to be feasible, which can provide new train of thought for control strategy design of mini electric scooter.
引文
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[2]D R,L W,M Y,et al.Design and Analyses of a Mems Based Resonant Magnetometer[J].Sensors(S1424-8220),2009,9(9):6951-6966.
[3]丁君,赵忠华.AHRS航姿解算中的两种滤波方法的比较研究[J].计算机仿真,2013,30(9):60-65.Ding J,Zhao Z H.Comparison and Study on Complementary Filter and Kalman Filter in AHRS Attitude Calculation[J].Computer Simulation,2013,30(9):60-65.
[4]Colton S.The Balance Filter-a Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform[EB/OL].http://web.mit.edu/scolton/www/filter.pdf.2011-12-12.
[5]李忠磊.飞行器姿轨数据可视化仿真的相关研究[D].长沙:国防科学技术大学,2005.Li Zhonglei.Research on Visual Simulation of Aerocraft Attitude and Orbit Data[D].Changsha:National University of Defense Technology,2005.
[6]黄真,李艳文,高峰.空间运动构件姿态的欧拉角表示[J].燕山大学学报,2002,26(3):189-192.Huang Zhen,Li Yanwen,Gao Feng.The Expression of the Orientation of a Spatial Moving Unit by Euler Angle[J].Journal of Yanshan University,2002,26(3):189-192.
[7]刘玉军.机器人多自由度关节的研究[D].浙江:浙江工业大学,2002.Lin Yujun.Study on Robot Joint with More Degrees of Freedom[D],Zhejiang:Zhejiang University of Technology,2002.
[8]丁玉兰.人机工程学[M].北京:北京理工大学出版社,2011:116-117.Ding Yulan.Ergonomics[M].Beijing:Beijing Institute of Technology Press,2011:116-117.
[9]阎野,赵汉元,何力.利用转移矩阵进行姿态控制[J].飞行力学,1999,17(4):85-90.Yan Y,Zhao H Y,He L.The Utilization of Transition Matrix in Attitude Control[J].Flight Dynamics,1999,17(4):85-90.
[10]王亚青,张文涛,赵国如.基于九轴惯性传感器的跌倒监测系统的研究[J].微型机与应用,2014,33(14):67-70.Wang Y Q,Zhang W T,Zhao G R.A research which uses a fall-detection system based on nine inertial sensors[J].Microcomputer&Its Applications,2014,33(14):67-70.
[11]赵祥欣.基于三维加速度传感器的跌倒监测研究[D].杭州:浙江大学,2008.Zhao Xiangxin.The Research of Fall Detection Based on Tri-axial Accelerometer[D],Hangzhou:Zhejiang University,2008.
[12]孙新香.基于三轴加速度传感器的跌倒检测技术的研究与应用[D].上海:上海交通大学,2008.Xinxiang Sun.Research of Fall Detection Technology Based on 3-Axis Accelerometer[D],Shanghai:Shanghai Jiao Tong University,2008.
[13]曹玉珍,蔡伟超,程旸.基于MEMS加速度传感器的人体姿态检测技术[J].纳米技术与精密工程,2010,8(1):37-41.Cao Y Z,Cai W Ch,Cheng Y.Body posture detection technique based on MEMS acceleration sensor[J].Nanotechnology&Precision Engineering,2010,8(1):37-41.
[14]沙琳,车延博.无刷直线电动机变参数智能PI调速系统[J].机床与液压,2008,36(2):140-142,145.Sha L,Che Y B.Variable Parameter Intelligent BLDCM Drive System[J].Machine Tool&Hydraulics,2008,36(2):140-142,145.
[15]纪志成,沈艳霞,姜建国.一种新型的无刷直流电机调速系统的模糊PI智能控制[J].电机与控制学报,2003,7(3):248-254.Ji Zhi-Cheng,Shen Y X,Jiang J G.A novel fuzzy PI intelligent control method of BLDCM speed servo system[J].Electric Machines&Control,2003,7(3):248-254.