Research On Control System Of Manned Self-balancing Unicycle

With the urban traffic congestion and air pollution problems becoming more and more serious,convenient to carry,small,flexible,low-carbon and environment-friendly manned self-balancing unicycle is becoming an option for people to travel.The manned self-balancing unicycle can be considered as an extension of self-balancing unicycle robot in the field of manned vehicle,and its original model is inverted pendulum system model,so its research has important theoretical and practical significance.Based on the analysis of the domestic and international researches on self-balancing unicycle robots and manned balancing vehicles,this paper designs a manned self-balancing unicycle,which is mainly composed of dynamics modeling,attitude fusion algorithm,balance control algorithm,motor control method,hardware and software design,experimental testing and so on.According to the motion characteristics of self-balancing unicycle,the dynamic model is established by using Newtonian mechanics method.The characteristics of the dynamic model of the unicycle are analyzed,which provides a theoretical basis for the research of the subsequent control system.Accurate attitude information is a prerequisite for unicycle to achieve self-balancing,selecting MPU6050 six-axis sensor to detect unicycle angular and angular velocity information in real time,and then the Kalman filter algorithm is used to filter and fuse the detected attitude information.The balance control algorithm is the key to realize the self-balance of the unicycle.The linear PID control algorithm and the nonlinear fuzzy control algorithm are studied respectively,and the control effect of these two algorithms to the unicycle model is obtained by simulation.The simulation results show that the unicycle restores the equilibrium state for a shorter time and has less fluctuation in the process of recovering the equilibrium under the fuzzy control algorithm.Motor control method is the basis of the normal operation of unicycle,and the basic composition and working principle of brushless DC motor are studied.According to the characteristics of the brushless DC motor using electronic methods to change phase,the design requirements of motor drive circuit and the motor control program are obtained.According to the working principle and control requirements of unicycle,the hardware system and software system of unicycle are designed.In the hardware system design,select the STM32 microcontroller as the control chip,and build each functional circuit.In the software system design,write the initialization subroutine of each function part of the system and the program of each algorithm.Finally,the circuit board is made,the experimental prototype is assembled,the circuit is debugged and the software is debugged.The balance control algorithm is validated and analyzed experimentally.The result shows that the fuzzy control algorithm has better control effect.