基于相对姿态角控制的微型折叠电动车设计

doi:10.16182/j.issn1004731x.joss.201806037

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (6): 2295-2305.doi: 10.16182/j.issn1004731x.joss.201806037

基于相对姿态角控制的微型折叠电动车设计

姜立军, 吴章鸿, 潘绍辉, 李哲林, 熊志勇, 付永清

华南理工大学,广东广州 510000

收稿日期:2016-07-22 修回日期:2016-10-11 出版日期:2018-06-08 发布日期:2018-06-14
作者简介:姜立军(1968-),男,湖南益阳,博士,教授,研究方向为设计学理论与方法、智能化产品与交互设计、增强现实。
基金资助:
国家自然科学基金(51275174),广州市科技计划项目科学发展专项基金(201607010308)

Design of Mini Folding Electric Scooter Based on Relative Attitude Angle Control

Jiang Lijun, Wu Zhanghong, Pan Shaohui, Li Zhelin, Xiong Zhiyong, Fu Yongqing

South China University of Technology, Guangzhou 510000, China

Received:2016-07-22 Revised:2016-10-11 Online:2018-06-08 Published:2018-06-14

摘要/Abstract

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。

关键词: 微型电动车, 智能手机, 折叠, 相对姿态角, 欧拉角, 互补滤波

Abstract: 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.

Key words: mini electric scooter, smart mobile phone, folding, relative attitude angle, Euler angle, complementary filter

中图分类号:

U489

姜立军, 吴章鸿, 潘绍辉, 李哲林, 熊志勇, 付永清. 基于相对姿态角控制的微型折叠电动车设计[J]. 系统仿真学报, 2018, 30(6): 2295-2305.

Jiang Lijun, Wu Zhanghong, Pan Shaohui, Li Zhelin, Xiong Zhiyong, Fu Yongqing. Design of Mini Folding Electric Scooter Based on Relative Attitude Angle Control[J]. Journal of System Simulation, 2018, 30(6): 2295-2305.

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基于相对姿态角控制的微型折叠电动车设计

Design of Mini Folding Electric Scooter Based on Relative Attitude Angle Control

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