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

摘要

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.