CN106877747A - A kind of driver and driving method - Google Patents
A kind of driver and driving method Download PDFInfo
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- CN106877747A CN106877747A CN201710067322.1A CN201710067322A CN106877747A CN 106877747 A CN106877747 A CN 106877747A CN 201710067322 A CN201710067322 A CN 201710067322A CN 106877747 A CN106877747 A CN 106877747A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The purpose of the application is to provide a kind of one drag two driver and driving method, is used to solve the problems, such as that the motor synchronism of two driving wheels in the prior art is poor.A kind of driver of one drag two that the application is provided includes control chip, two drive circuits and two feedback circuits, while being driven control to the motor of two driving wheels.Using a control chip, two-way motor is driven by corresponding control algolithm respectively, is completed in driver by the process of whole feedback synchronization, the time delay for receiving control command can be reduced, avoid, because driving asynchronous caused cumulative errors, improving two synchronisms of motor.
Description
Technical field
The application is related to robot control field, more particularly to a kind of one drag two driver and driving method.
Background technology
For using the mobile robot of vector controlled driver and two-wheel differential versions, current conventional driving side
In case, the motor and driver of driving wheel are one-to-one, i.e., one motors, dragged by an independent driver and
Speed governing, thus controls two driving wheels of robot to be rotated with corresponding rotating speed, so as to realize advancing, retreat, turn to
Action.
In actual scene, if when robot currently at the uniform velocity advances forward, and one of driving wheel is encountered
(there is one block of big stone, or a hole) in obstacle such as before driving wheel, then when the driving wheel crosses obstruction, another drive
Driving wheel does not run into this obstruction, because two drivers are individually controlled to the motor of two driving wheels, will cause
Robot cannot ensure synchronization in this moment, and direct of travel occurs deviation, or even the consequence that cannot be expected occurs.
Because the time that the control command of host computer reaches each driver can have certain delay, two drivers are received
Can equally there is delay in the time of order, so as to cause the action between motor asynchronous, cause accumulated error.
Application content
One purpose of the application is to provide a kind of one drag two driver and driving method, is used to solve in the prior art two
The poor problem of the motor synchronism of individual driving wheel.
To achieve the above object, this application provides a kind of driver, for being set to the robot comprising two driving wheels
Standby to be driven control, each driving wheel of the robot device is driven by a motor respectively, wherein, the driver bag
Include control chip, two drive circuits and two feedback circuits；
Described two feedback circuits, respectively with two motor connections, for being sampled to correspondence motor, obtain feedback letter
Number, and feedback signal is sent to the control chip；
Described two drive circuits, respectively with two motors, for the drive according to driving control signal generation correspondence motor
Dynamic signal, and correspondence motor is driven based on the drive signal；
The control chip, connects the feedback circuit and drive circuit, for the input signal according to correspondence motor and
Feedback signal synchronizes treatment, generates two driving control signal of drive circuit, and the driving control signal is sent
To the drive circuit of correspondence motor.
Further, the feedback circuit includes current feedback circuit and velocity feedback circuits；
The current feedback circuit, samples for the electric current to motor, obtains current feedback signal, and by the electricity
Stream feedback signal is sent to the control chip；
The velocity feedback circuits, use for the speed to motor, acquisition speed feedback signal, and by the speed
Degree feedback signal is sent to the control chip.
Further, the input signal of the motor is the speed input signal of motor, and the control chip includes：
Speed ring module, for speed input signal and the feedback speed signal corresponding motor of generation according to correspondence motor
Speed ring control signal；
Speed tracing ratio synchronization ring module, for according to two speed input signal and the feedback speed signal lifes of motor
Into the synchronized tracking signal of correspondence motor；
Electric current loop module, for the speed ring synchronizing signal motor corresponding with synchronized tracking signal generation according to correspondence motor
Speed ring control signal；
Drive control module, for generating driving control signal according to the speed ring control signal of correspondence motor.
Further, the drive control module, for being adjusted using Field orientable control algorithm and space vector pulse width
Algorithm processed generates driving control signal.
Further, the control chip, also includes：
Input module, translational speed and rotary speed for obtaining the robot device, and based on the mobile speed
Degree and rotary speed carry out resolution of velocity, obtain the input speed signal of each motor.
Further, the control chip, also includes：
Output module, for obtain two feedback speed signals of motor, according to two feedback speed signals of motor with
And the reference azimuth of the robot device, obtain the present orientation of the robot device.
Another aspect based on the application, additionally provides a kind of driving method, and the method is used for comprising two driving wheels
Robot device be driven control, each driving wheel of the robot device is driven by a motor respectively, wherein, institute
State method be based on control chip, two drive circuits and two drivers of feedback circuit, described two feedback circuits respectively with
Two motor connections, described two drive circuits respectively with two motors, the control chip connects the feedback circuit and drive
Dynamic circuit；Methods described includes：
By two feedback circuits respectively to correspondence motor sample, obtain feedback signal, and by feedback signal send to
The control chip；
By two drive circuits respectively according to the drive signal of driving control signal generation correspondence motor, and based on the drive
Dynamic signal drives correspondence motor；
Treatment is synchronized according to the input signal and feedback signal of correspondence motor by the control chip, two drives are generated
The driving control signal of dynamic circuit, and the driving control signal is sent to the drive circuit of correspondence motor.
Further, the feedback circuit includes current feedback circuit and velocity feedback circuits；
By two feedback circuits respectively to correspondence motor sample, obtain feedback signal, and by feedback signal send to
The control chip, including：
The electric current of motor is sampled by the current feedback circuit, obtains current feedback signal, and by the electric current
Feedback signal is sent to the control chip；
The speed of motor is used by stating velocity feedback circuits, acquisition speed feedback signal, and the speed is anti-
Feedback signal is sent to the control chip.
Further, the input signal of the motor is the speed input signal of motor, and the control chip includes speed
Ring module, speed tracing ratio synchronization ring module, electric current loop module and drive control module；
Treatment is synchronized according to the input signal and feedback signal of correspondence motor by the control chip, two drives are generated
The driving control signal of dynamic circuit, and the driving control signal is sent to the drive circuit of correspondence motor, including：
By speed ring module according to the speed input signal of correspondence motor and the speed of the feedback speed signal corresponding motor of generation
Degree ring control signal；
Generated according to the speed input signal and feedback speed signal of two motors by speed tracing ratio synchronization ring module
The synchronized tracking signal of correspondence motor；
By electric current loop module according to the speed ring synchronizing signal motor corresponding with synchronized tracking signal generation of correspondence motor
Speed ring control signal；
Driving control signal is generated according to the speed ring control signal of correspondence motor by drive control module.
Further, driving control signal is generated according to the speed ring control signal of correspondence motor by drive control module,
Including：
Control is driven using Field orientable control algorithm and spatial vector pulse width modulation algorithm generation by drive control module
Signal processed.
Further, the control chip also includes input module；
Methods described also includes：
The translational speed and rotary speed of the robot device are obtained by the input module, and based on the mobile speed
Degree and rotary speed carry out resolution of velocity, obtain the input speed signal of each motor.
Further, the control chip also includes output module；
Methods described also includes：
By the output module obtain two feedback speed signals of motor, according to two feedback speed signals of motor with
And the reference azimuth of the robot device, obtain the present orientation of the robot device.
Compared with prior art, a control is included this application provides a kind of driver of one drag two, the i.e. driver
Chip, two drive circuits and two feedback circuits, while being driven control to the motor of two driving wheels.Using a control
Coremaking piece, two-way motor is driven by corresponding control algolithm respectively, is completed in driver by the process of whole feedback synchronization,
The time delay for receiving control command can be reduced, it is to avoid because driving asynchronous caused cumulative errors, improve two motors
Synchronism.
Brief description of the drawings
By the detailed description made to non-limiting example made with reference to the following drawings of reading, the application other
Feature, objects and advantages will become more apparent upon：
A kind of structural representation of driver that Fig. 1 is provided for the embodiment of the present application；
The structural representation of control chip in the driver that Fig. 2 is provided for the embodiment of the present application；
Fig. 3 is the kinematics model schematic diagram that the embodiment of the present application medium velocity is decomposed；
The handling principle schematic diagram of the driver that Fig. 4 is provided for the embodiment of the present application；
Fig. 5 is the algorithm Organization Chart of driver commonly used in the prior art；
The algorithm Organization Chart of the driver that Fig. 6 is provided for the embodiment of the present application；
Same or analogous reference represents same or analogous part in accompanying drawing.
Specific embodiment
The application is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes that permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information Store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, can be used to store the information that can be accessed by a computing device.Defined according to herein, computer
Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
The embodiment of the present application provides a kind of driver, and the driver is used for comprising two robot devices of driving wheel
Control is driven, each driving wheel of the robot device is driven by a motor respectively.The driver includes control
Chip, two drive circuits and two feedback circuits, itself and two attachment structures of motor, as shown in Figure 1.
Described two feedback circuits, i.e. the first feedback circuit 131 and the second feedback circuit 132, connect with two motors respectively
Connect, i.e., the first feedback circuit 131 connects the first motor 141, the second feedback circuit 132 and connects the second motor 142.Each feedback electricity
Road is used to sample correspondence motor, obtains feedback signal, and feedback signal is sent to the control chip so that control
Chip can be controlled according to corresponding feedback signal to the speed of motor.
Wherein, the feedback signal can use different types of letter according to the difference of actual feedback controling mode
Number, for example in one embodiment, using the feedback controling mode of speed ring combination electric current loop, then the feedback signal can be with
Current feedback signal and feedback speed signal including correspondence motor, correspondingly, the feedback circuit can include current feedback
Circuit and velocity feedback circuits, the current feedback circuit are used to sample the electric current of motor, obtain current feedback signal,
And send to the control chip current feedback signal；And the velocity feedback circuits are used to carry out the speed of motor
Sampling, acquisition speed feedback signal, and the feedback speed signal is sent to the control chip.In actual scene, institute
It can be QEP (Quadrature Encoder Pulse, quadrature coding pulse) codings to state implementing for velocity feedback circuits
Device, and implementing for the current feedback circuit can be all kinds of current sample chips etc..
Described two drive circuits, i.e. the first drive circuit 121 and the second drive circuit 122, connect with two motors respectively
Connect, i.e., the first drive circuit 121 connects the first motor 141, the second drive circuit 122 and connects the second motor 142.Each drives electricity
Road, for the drive signal according to driving control signal generation correspondence motor, and drives correspondence motor based on the drive signal,
Wherein, according to the difference of specific control scene, the drive signal similarly can be using the signal of corresponding form, such as one
Plant in embodiment, motor is brshless DC motor, control chip using FOC (Field Oriented Control, field orientation
Control) algorithm combination SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation) algorithm
It is controlled, now the driving control signal can be three-phase PWM (Pulse Width Modulation, pulsewidth modulation) letter
Number.
The control chip 110, connects the feedback circuit and drive circuit, i.e., respectively with the first feedback circuit 131, the
Two feedback circuits 132, the first drive circuit 121 and the second drive circuit 122 are connected, according to correspondence motor input signal and
Feedback signal synchronizes treatment, generates two driving control signal of drive circuit, and the driving control signal is sent
To the drive circuit of correspondence motor.
In actual scene, the input signal of the motor can be the velocity amplitude of motor, i.e. the speed input letter of motor
Number.The internal structure of the control chip can include following processing module：Speed ring module 111, speed tracing ratio synchronization
Ring module 113, electric current loop module 112 and drive control module 114, as shown in Figure 2.
Wherein, speed ring module 111 is used for right according to the speed input signal of correspondence motor and feedback speed signal generation
Answer the speed ring control signal of motor.For each motor, the closed loop feedback control of speed ring is independently carried out, for example, first is anti-
The velocity feedback circuits of current feed circuit 131 are collected after the feedback speed signal of the first motor 141, are sent to speed ring module,
Nose-ring control, generation first are carried out according to the speed input signal and feedback speed signal of the first motor 141 by speed ring module
The speed ring control signal of motor 141, further giving speed electric current loop module carries out the closed loop feedback control of electric current loop.
Speed tracing ratio synchronization ring module 113 is used for according to two speed input signals and feedback speed signal of motor
The synchronized tracking signal of generation correspondence motor.For each motor, speed tracing ratio synchronization ring module 113 can be to two electricity
The speed tracing ratio of machine does pid algorithm, and the synchronized tracking signal of its output is by one, quadrature axis (q axles) electric current of each motor
Additional incremental, so as to influence the output torque of motor, changes motor speed, the synchronous effect of final generation Velocity Pursuit.For
Scene is referred in background technology, if a driving wheel of robot device encounters obstacle, another driving wheel does not run into
When this hinders, be able to can be perceived by the feedback of speed ring and electric current loop, now, speed tracing ratio synchronization ring module
113, according to the speed input signal and feedback speed signal of now motor, can generate corresponding synchronized tracking signal, as electricity
The feed back input of ring is flowed, so as to adjust the rotating speed of motor in a short time, direct of travel occurs deviation, realizes Synchronization Control.
Electric current loop module 112 is used for the speed ring synchronizing signal electricity corresponding with synchronized tracking signal generation according to correspondence motor
The speed ring control signal of machine.
Drive control module 114 is used to generate driving control signal according to the speed ring control signal of correspondence motor.As
One kind preferred embodiment, using Field orientable control algorithm and space vector pulse width modulation calculated by the drive control module
Method generates driving control signal.
Further, in the driver that the application is provided, the control chip can also include input module, the input
Module is used to obtain the translational speed and rotary speed of the robot device, and is entered based on the translational speed and rotary speed
Row resolution of velocity, obtains the input speed signal of each motor.
In the present embodiment, the principle of the resolution of velocity is illustrated with model as shown in Figure 3.Wherein, F is machine
The key point of people's equipment, G is the pivot of robot device, and b is the distance between two driving wheels, and r is the half of driving wheel
Footpath, lGIt is the distance between point G and point F, φ is the corner of robot device, θlTo do the corner of driving wheel, θrTo do driving wheel
Corner.
Translational speed and rotary speed based on robot device, it may be determined that the speed at a certain moment of robot device
Degree, it is assumed that the speed of robot device is vG, it is perpendicular to two wheel shafts of driving wheel of robot device, it follows that moving
Component of the speed in two reference axis is respectively：
xG=vGCos φ, yG=vGSin φ,
Eliminate vG
xGSinφ-yGCos φ=0.
There is following location relation in point F and point G：
xF=xG+lGCos φ, (1)
yF=yG+lGsinφ. (2)
To formula (1), (2) derivation, can obtain
Thus, the length velocity relation of point F is represented by：
The speed of robot device's barycenter and the relational expression between wheel speed is driven to be：
Matrix expression can be obtained is：
So as to obtain
In formula (3)
Wherein, J is defined as the generalized Jacobian of robot device, reflects the speed of robot device with two drives
Relation between the speed of driving wheel.
Further, the control chip can also include output module, and the output module is used for the signal to exporting
Mileage synthesis is carried out, specially：Obtain two feedback speed signals of motor, feedback speed signal according to two motors and
The reference azimuth of the robot device, obtains the present orientation of the robot device.Wherein, the orientation includes robot
The coordinate and corner (x, y, φ) of equipment, the embodiment of the present application provide a kind of side for calculating robot location's present orientation
Method, its pseudo-code of the algorithm is as follows：
Actual_x:Actual x after integration
Actual_y:Actual y after integration
Actual_φ:Actual φ after integration
Left_wheel_pos=wheelPos.pos_left；The coordinate of/left driving wheel/
Right_wheel_pos=wheelPos.pos_right；The coordinate of/right driving wheel/
X=(right_wheel_pos+left_wheel_pos) * 0.5；
Y=0
φ=(right_wheel_pos-left_wheel_pos)/wheel_dist；
Float dx=x*cos (Actual_ φ)-y*sin (Actual_ φ)；
Float dy=x*sin (Actual_ φ)+y*cos (Actual_ φ)；
Float d φ=φ；
Actual_x=Actual_x+dx；
Actual_y=Actual_y+dy；
Actual_ φ=Actual_ φ+d φ
Now, what Actual_x, Actual_y and Actual_ φ for getting were the robot device works as front
Position.
It follows that the application implements the handling principle of the driver for providing as shown in figure 4, its input is robot device
Pace and rotary speed, be output as specific coordinate and corner of the robot device in plane environment.
Based on same inventive concept, a kind of driving method based on the driver is additionally provided in the embodiment of the present application,
The corresponding equipment of the above method is the driver in previous embodiment, and the principle of its solve problem and the driver phase
Seemingly.
A kind of driving method that the embodiment of the present application is provided, the driving method is used for comprising two robots of driving wheel
Equipment is driven control, and each driving wheel of the robot device is driven by a motor respectively, wherein, methods described base
In driver as shown in Figure 1, the driver includes control chip, two drive circuits and two drivers of feedback circuit,
Described two feedback circuits respectively with two motor connections, described two drive circuits respectively with two motors, the control core
Piece connects the feedback circuit and drive circuit.
Methods described is specifically included：
By two feedback circuits respectively to correspondence motor sample, obtain feedback signal, and by feedback signal send to
The control chip；
By two drive circuits respectively according to the drive signal of driving control signal generation correspondence motor, and based on the drive
Dynamic signal drives correspondence motor；
Treatment is synchronized according to the input signal and feedback signal of correspondence motor by the control chip, two drives are generated
The driving control signal of dynamic circuit, and the driving control signal is sent to the drive circuit of correspondence motor.
Wherein, the feedback signal can use different types of letter according to the difference of actual feedback controling mode
Number, for example in one embodiment, using the feedback controling mode of speed ring combination electric current loop, then the feedback signal can be with
Current feedback signal and feedback speed signal including correspondence motor, correspondingly, when feedback signal is obtained, can specifically wrap
Include：The electric current of motor is sampled by the current feedback circuit, obtains current feedback signal, and the current feedback is believed
Number send to the control chip；And the speed of motor is sampled by stating velocity feedback circuits, acquisition speed feedback letter
Number, and the feedback speed signal is sent to the control chip.In actual scene, the velocity feedback circuits it is specific
Realization can be QEP (Quadrature Encoder Pulse, quadrature coding pulse) encoder, and the current feedback circuit
To implement can be all kinds of current sample chips etc..
According to the difference of specific control scene, the drive signal can similarly use the signal of corresponding form, for example
In one embodiment, motor is brshless DC motor, control chip using FOC (Field Oriented Control, magnetic field
Oriented control) algorithm combination SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation)
Algorithm is controlled, and now the driving control signal can be that three-phase PWM (adjust by Pulse Width Modulation, pulsewidth
System) signal.
In actual scene, the input signal of the motor can be the velocity amplitude of motor, i.e. the speed input letter of motor
Number.The internal structure of the control chip can include following processing module：Speed ring module 111, speed tracing ratio synchronization
Ring module 113, electric current loop module 112 and drive control module 114, as shown in Figure 2.
Thus, the concrete processing procedure of the control chip includes：
By speed ring module according to the speed input signal of correspondence motor and the speed of the feedback speed signal corresponding motor of generation
Degree ring control signal；
Generated according to the speed input signal and feedback speed signal of two motors by speed tracing ratio synchronization ring module
The synchronized tracking signal of correspondence motor；
By electric current loop module according to the speed ring synchronizing signal motor corresponding with synchronized tracking signal generation of correspondence motor
Speed ring control signal；
For each motor, the closed loop feedback control of speed ring is independently carried out, for example, the speed of the first feedback circuit 131
Feedback circuit is collected after the feedback speed signal of the first motor 141, is sent to speed ring module, by speed ring module according to
The speed input signal and feedback speed signal of the first motor 141 carry out nose-ring control, generate the speed ring control of the first motor 141
Signal processed, further giving speed electric current loop module carries out the closed loop feedback control of electric current loop.
For each motor, speed tracing ratio synchronization ring module 113 can be done to the speed tracing ratio of two motors
Pid algorithm, the synchronized tracking signal of its output will give quadrature axis (q axles) one additional incremental of electric current of each motor, so as to influence
The output torque of motor, changes motor speed, the synchronous effect of final generation Velocity Pursuit.For referring to field in background technology
Scape, if a driving wheel of robot device encounters obstacle, when another driving wheel does not run into this obstruction, Ke Yitong
The feedback for crossing speed ring and electric current loop can be perceived, and now, speed tracing ratio synchronization ring module 113 is according to now motor
Speed input signal and feedback speed signal, can generate corresponding synchronized tracking signal, as the feed back input of electric current loop, from
And the rotating speed of motor is adjusted in a short time, there is deviation in direct of travel, realize Synchronization Control.
As one kind preferred embodiment, Field orientable control algorithm and space can be used by drive control module
Vector Pulse Width Modulation algorithm generates driving control signal.
Further, in the driver that the application is provided, the control chip can also include input module, thus, institute
Stating driving method also includes：The translational speed and rotary speed of the robot device are obtained by the input module, and is based on
The translational speed and rotary speed carry out resolution of velocity, obtain the input speed signal of each motor.
In the present embodiment, the principle of the resolution of velocity is illustrated with model as shown in Figure 3.Wherein, F is machine
The key point of people's equipment, G is the pivot of robot device, and b is the distance between two driving wheels, and r is the half of driving wheel
Footpath, lGIt is the distance between point G and point F, φ is the corner of robot device, θlTo do the corner of driving wheel, θrTo do driving wheel
Corner.
Translational speed and rotary speed based on robot device, it may be determined that the speed at a certain moment of robot device
Degree, it is assumed that the speed of robot device is vG, it is perpendicular to two wheel shafts of driving wheel of robot device, it follows that moving
Component of the speed in two reference axis is respectively：
xG=vGCos φ, yG=vGSin φ,
Eliminate vG
xGSinφ-yGCos φ=0.
There is following location relation in point F and point G：
xF=xG+lGCos φ, (1)
yF=yG+lGsinφ. (2)
To formula (1), (2) derivation, can obtain
Thus, the length velocity relation of point F is represented by：
The speed of robot device's barycenter and the relational expression between wheel speed is driven to be：
Matrix expression can be obtained is：
So as to obtain
In formula (3)
Wherein, J is defined as the generalized Jacobian of robot device, reflects the speed of robot device with two drives
Relation between the speed of driving wheel.
Further, the control chip can also include output module, and thus, the driving method also includes：By institute
State output module carries out mileage synthesis to the signal for exporting, specially：Two feedback speed signals of motor are obtained, according to two
The feedback speed signal of motor and the reference azimuth of the robot device, obtain the present orientation of the robot device.
Wherein, the orientation includes the coordinate and corner (x, y, φ) of robot device, and the embodiment of the present application provides a kind of calculating institute
The method for stating robot location's present orientation, its pseudo-code of the algorithm is as follows：
Actual_x:Actual x after integration
Actual_y:Actual y after integration
Actual_φ:Actual φ after integration
Left_wheel_pos=wheelPos.pos_left；The coordinate of/left driving wheel/
Right_wheel_pos=wheelPos.pos_right；The coordinate of/right driving wheel/
X=(right_wheel_pos+left_wheel_pos) * 0.5；
Y=0；
φ=(right_wheel_pos-left_wheel_pos)/wheel_dist；
Float dx=x*cos (Actual_ φ)-y*sin (Actual_ φ)；
Float dy=x*sin (Actual_ φ)+y*cos (Actual_ φ)；
Float d φ=φ；
Actual_x=Actual_x+dx；
Actual_y=Actual_y+dy；
Actual_ φ=Actual_ φ+d φ
Now, what Actual_x, Actual_y and Actual_ φ for getting were the robot device works as front
Position.
It follows that the application implements the handling principle of the driver for providing as shown in figure 4, its input is robot device
Pace and rotary speed, be output as specific coordinate and corner of the robot device in plane environment.
In due to current conventional drive scheme, the motor and driver of driving wheel are one-to-one, i.e., one motors,
Dragged and speed governing by an independent driver, the specific algorithm framework of whole driver is as shown in Figure 5.Each motor
All by providing drive signal, two drives comprising a driver being made up of control chip, drive circuit and feedback circuit
That moves device cannot directly synchronize control, it is therefore desirable to synchronization be realized by the host computer connected by bus, for tradition
Bus for, its transmission speed can be in Millisecond.Because the time that the control command of host computer reaches each driver can be present
Can equally there is delay in certain delay, the time of two driver reception orders, so as to cause the action between motor different
Step, causes accumulated error.
And the scheme that the embodiment of the present application is provided is improved Scheme, as shown in fig. 6, the portion in figure in square frame
Divide the Scheme for being the conventional drive scheme shown in Fig. 5.This programme uses a control chip, is calculated by corresponding control
Method drives two-way motor respectively, is completed in driver by the process of whole feedback synchronization, can reduce and receive control command
Time delay, it is to avoid because driving asynchronous caused cumulative errors, improve two synchronisms of motor.
It should be noted that the application can be carried out in the assembly of software and/or software with hardware, for example, can adopt
Realized with application specific integrated circuit (ASIC), general purpose computer or any other similar hardware device.In one embodiment
In, the software program of the application can be by computing device realizing steps described above or function.Similarly, the application
Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example
Such as, coordinate so as to perform the circuit of each step or function as with processor.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer is performed, by the operation of the computer, can call or provide according to the present processes and/or technical scheme.
And the programmed instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Data flow in broadcast or other signal bearing medias and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, the one embodiment according to the application includes a device, the device includes using
In the memory and the processor for execute program instructions of storage computer program instructions, wherein, when the computer program refers to
When order is by the computing device, method and/or skill that the plant running is based on foregoing multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the application.Any reference in claim should not be considered as the claim involved by limitation.This
Outward, it is clear that " including " word is not excluded for other units or step, odd number is not excluded for plural number.The multiple stated in device claim
Unit or device can also be realized by a unit or device by software or hardware.
Claims (12)
1. a kind of driver, for being driven control, the robot device to the robot device comprising two driving wheels
Each driving wheel driven by motor respectively, wherein, the driver includes control chip, two drive circuits and two
Feedback circuit；
Described two feedback circuits, respectively with two motor connections, for being sampled to correspondence motor, obtain feedback signal,
And send to the control chip feedback signal；
Described two drive circuits, respectively with two motors, for the driving letter according to driving control signal generation correspondence motor
Number, and correspondence motor is driven based on the drive signal；
The control chip, connects the feedback circuit and drive circuit, for input signal and feedback according to correspondence motor
Signal synchronizes treatment, generates two driving control signal of drive circuit, and the driving control signal is sent to right
Answer the drive circuit of motor.
2. driver according to claim 1, wherein, the feedback circuit includes current feedback circuit and velocity feedback electricity
Road；
The current feedback circuit, samples for the electric current to motor, obtains current feedback signal, and the electric current is anti-
Feedback signal is sent to the control chip；
The velocity feedback circuits, use for the speed to motor, acquisition speed feedback signal, and the speed is anti-
Feedback signal is sent to the control chip.
3. driver according to claim 2, wherein, the input signal of the motor is the speed input signal of motor,
The control chip includes：
Speed ring module, for the speed input signal according to correspondence motor and the speed of the feedback speed signal corresponding motor of generation
Ring control signal；
Speed tracing ratio synchronization ring module is right for speed input signal and the feedback speed signal generation according to two motors
Answer the synchronized tracking signal of motor；
Electric current loop module, for the speed of the speed ring synchronizing signal motor corresponding with synchronized tracking signal generation according to correspondence motor
Degree ring control signal；
Drive control module, for generating driving control signal according to the speed ring control signal of correspondence motor.
4. driver according to claim 3, wherein, the drive control module, for being calculated using Field orientable control
Method and spatial vector pulse width modulation algorithm generation driving control signal.
5. driver according to claim 3, wherein, the control chip also includes：
Input module, translational speed and rotary speed for obtaining the robot device, and based on the translational speed and
Rotary speed carries out resolution of velocity, obtains the input speed signal of each motor.
6. driver according to claim 3, wherein, the control chip also includes：
Output module, for obtaining two feedback speed signals of motor, feedback speed signal and institute according to two motors
The reference azimuth of robot device is stated, the present orientation of the robot device is obtained.
7. a kind of driving method, the method is used to be driven the robot device comprising two driving wheels control, the machine
Each driving wheel of device people's equipment is driven by a motor respectively, wherein, methods described is based on control chip, two drive circuits
With two drivers of feedback circuit, described two feedback circuits respectively with two motor connections, described two drive circuits point
Not with two motors, the control chip connects the feedback circuit and drive circuit；Methods described includes：
Correspondence motor is sampled respectively by two feedback circuits, feedback signal is obtained, and feedback signal is sent to described
Control chip；
By two drive circuits respectively according to the drive signal of driving control signal generation correspondence motor, and letter is driven based on described
Number drive correspondence motor；
Treatment is synchronized according to the input signal and feedback signal of correspondence motor by the control chip, two is generated and is driven electricity
The driving control signal on road, and the driving control signal is sent to the drive circuit of correspondence motor.
8. method according to claim 7, wherein, the feedback circuit includes current feedback circuit and velocity feedback electricity
Road；
Correspondence motor is sampled respectively by two feedback circuits, feedback signal is obtained, and feedback signal is sent to described
Control chip, including：
The electric current of motor is sampled by the current feedback circuit, obtains current feedback signal, and by the current feedback
Signal is sent to the control chip；
The speed of motor is used by stating velocity feedback circuits, acquisition speed feedback signal, and the velocity feedback is believed
Number send to the control chip.
9. method according to claim 8, wherein, the input signal of the motor is the speed input signal of motor, institute
Stating control chip includes speed ring module, speed tracing ratio synchronization ring module, electric current loop module and drive control module；
Treatment is synchronized according to the input signal and feedback signal of correspondence motor by the control chip, two is generated and is driven electricity
The driving control signal on road, and the driving control signal is sent to the drive circuit of correspondence motor, including：
By speed ring module according to the speed input signal of correspondence motor and the speed ring of the feedback speed signal corresponding motor of generation
Control signal；
It is corresponding with feedback speed signal generation according to two speed input signals of motor by speed tracing ratio synchronization ring module
The synchronized tracking signal of motor；
By electric current loop module according to correspondence motor speed ring synchronizing signal motor corresponding with synchronized tracking signal generation speed
Ring control signal；
Driving control signal is generated according to the speed ring control signal of correspondence motor by drive control module.
10. method according to claim 9, wherein, letter is controlled according to the speed ring of correspondence motor by drive control module
Number generation driving control signal, including：
Believed using Field orientable control algorithm and spatial vector pulse width modulation algorithm generation drive control by drive control module
Number.
11. methods according to claim 9, wherein, the control chip also includes input module；
Methods described also includes：
Obtain the translational speed and rotary speed of the robot device by the input module, and based on the translational speed and
Rotary speed carries out resolution of velocity, obtains the input speed signal of each motor.
12. methods according to claim 9, wherein, the control chip also includes output module；
Methods described also includes：
Two feedback speed signals of motor are obtained by the output module, feedback speed signal and institute according to two motors
The reference azimuth of robot device is stated, the present orientation of the robot device is obtained.
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