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GPL-3.0

V3自平衡莱洛三角形可充电RGB版

更新日志

2023/10/31:

  1. 更新新型号3205b款无限位电机适配pcb( 3205b自带限位 需要加工掉限位装置才可使用,某宝也可购买到加工后的3205b无限位款)
  2. 修复工程drc报错问题
  3. 修复上个版本快速开关电源导致短路问题(将电机驱动自举电容22uf更换为100nf电容)也可以自行在三个mos上管gs级之间并一个100k电阻用于电容放电

2023/5/25:V3升级明细(相比V2)因为电机无货原因请制作V3版本:

  1. 将2715电机更改为存量大且自带磁环的3205无限位款电机(感谢“初心不变”提供创意);
  2. 将AS5600模块插接方案更改为MT6701焊接方案,最大可能地避免了磁铁不对中、磁铁与磁编距离原因导致的PP check fail问题;
  3. 将600mAh电池更改为800mAh电池,将12V转5V DCDC电路Ti方案、5V转3.3V LDO方案全部改为国产DCDC方案,增加续航35%以上;
  4. 充电电路将电流限制为1A,避免极端环境下充电电感过热问题;降低了电池自放电,满电待机时间由一周增加至至少一个月;
  5. 调整了电机PID参数,使用的3205电机运行更平稳;
  6. 设计了电池安装板,从背后看不露电池,更加美观;

项目介绍

自平衡莱洛三角形,无刷驱动使用EG2133,使用esp32-arduino的simplefoc驱动。

程序附件都在gitee https://gitee.com/coll45/foc

V3 图片中间为立创彩色丝印版本,左右为最终V3版本(磁编码器集成到pcb中心)。均可以摇摆平衡,使用3205电机

  • cn3300充电部分设计充电截至电压12.72V(考虑到电池内阻,最终充满电压为12.43V),充电电流0.5A,电感电流1A。充电功率为5W(充电会电感部分会烫,但不至于烧毁电路)

  • 电机可以适配3205无刷电机(之前使用的电机GB2204\2715均已缺货)

1 制作说明

gitee文件夹中V3有自平衡莱洛三角形V3_BOM.xlsx,元器件请根据自己选择PCB空板还是SMT自行购买

原理图以及PCB图链接

  1. 在立创开源链接中,点击在编辑器中打开,进入EDA页面,双击对应的PCB,上方导航栏找到-制造-PCB制板文件(gerber)-生成gerber-一键PCB/SMT下单。(一定要进编辑器!!!有遇到过开源链接的bom和真实bom对不上的情况)
  2. 在下单页面中下单对应的pcb,如需SMT(机器贴片)可以选需要SMT,不选SMT会得到PCB空板
  3. 焊接是基本功,最好是有风枪+烙铁的情况下尝试制作。
  4. 焊接有焊接助手,在立创专业版点开对应的PCB,上方工具栏-焊接辅助工具

SMT注意:

  • 选择需要SMT完成下单之后,进入订单界面。SMT分板定位孔选择-嘉立创添加,BOM与坐标清单选择-用我自己的BOM和坐标,导出文件选择-立创EDA。
  • 需要上传的坐标文件和bom,都是在EDA页面-莱洛三角形PCB-制造-(物料清单BOM和坐标文件)中导出。
  • 进入BOM匹配之后,左上角贴片数量选择-做5贴2(因为莱洛三角形制作一个需要两个PCB板,一个有元器件一个空板),贴片层-只贴顶层,产品类型-经济型,坐标文件生成方式-单板
  • 强烈建议删除所有扩展库以及推荐库后打板
  • SMT下单完成之后,只需购买smt删除部分的元器件(比如扩展库和推荐库)

2 硬件特性

说明 参数
莱洛三角形尺寸 100*100 mm
动量轮尺寸 80*80 mm
电池*3 厚x长x宽:7.9mmx25mmx40mm 规格内均可
输入电压 3.7v锂电池*3
充电电压 5V 从Type-C口输入
充电芯片CN3300 5V输入,最大1A充电电流
均衡芯片CM1010-A 电池电压超过4.25V之后开始放电
主控芯片 ESP-WROOM-32
电机驱动芯片EG2133 引脚:32, 33, 25
稳压芯片MT2492 输出5V和3.3V
MT6701 编码器 SDA-23 SCL-5
MPU6050六轴传感器 SDA-19 SCL-18
RGB灯-WS2812 使用GPIO16控制
LED指示灯 功能
LED1 串口指示灯,ESP32发送串口数据时会亮起
LED2 充电完成指示灯,亮起表示充电完成,充到亮起可能需要2-3小时
LED30 充电指示灯,亮起表示正在充电
LED3 typec的5V输入指示灯 接typec一定亮
LED4 3.3v指示灯 电池输入12v输出3.3V
LED5 由GPIO4控制,电池电压低于9.5V时以1HZ频率闪烁
LED27\28\29 均衡指示灯,亮起表示该电池电压高于4.25V正在通过22欧姆电阻放电中
触摸盘 功能
单击时长 100ms以上
长按时长 800ms以上
点赞触摸盘 GPOI13-Touch4-单击:开关RGB灯;长按:开关wifi和电机
投币触摸盘 GPOI15-Touch3-单击:增加RGB灯亮度;长按:下一个RGB灯效
收藏触摸盘 GPOI2-Touch2-单击:减少RGB灯亮度;长按:上一个RGB灯效

3 使用说明

  1. 下载完本git所有文件后,打开文件夹V3/bin/flash_download_tool_3.9.2.exe
  2. 打开flash_download_tool后选择chip Type "ESP32",然后点OK,在第五行选择target.bin,烧录到0x000位置bin.png
  3. 使用CH340下载器,将下载器的TXD\RXD\GND用杜邦线引出,对准PCB的ESP32正上方的GND\RXD\TXD,接法为TXD-RXD\RXD-TXD\GND-GND
  4. PCB焊好后,保证esp32的供电电压为3.3V,打开电源,同时按住boot和RESET按钮,先松开RESET,然后松开boot进入下载模式后点START开始程序烧录
  5. 到这一步就可以打开开关,三角形就可以三个角都平衡了。如果不能平衡就参考文档最下方Q&A。
  6. WIFI调参功能只能是硬件正常情况下使用。如需修改参数,长按点赞触摸盘,可以打开wifi并停止电机。
  7. 打开本项目内的python_gui内的可执行文件_main内的main.exe并连接上WIFI:ESP32 。点击设置开始调参。 tiaocan.gif
  8. 如果不能摇摆直立,推荐调整的参数为TA、SA、SV
  9. K值可以用滑块调整,拖动滑块就会发送参数命令,但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次
  10. 滑条:最左边输入框为滑块下限,右边是滑块上限,滑条等分成200份,命令是字符串,滑动滑块发送字符串 + 数值
  11. arduino文件夹为环境可以自行修改代码编译(simplefoc版本需要为2.3.2)

比如让平衡角度为90度,则输入:TA90,并且会存入eeprom的位置0中 注:wifi发送命令不能过快,因为每次都会保存进eeprom,K参数没有保存到EEPROM所以可以使用滑条调整。

参数命令 说明
TA target_angle平衡角度 例如TA89.3 设置平衡角度89.3
SV swing_up_voltage摇摆电压 左右摇摆的电压,越大越快到平衡态,但是过大会翻过头
SA swing_up_angle摇摆角度 离平衡角度还有几度时候,切换到自平衡控制
VP1 速度环的PID的P,1是稳定在平衡角度之前的P值
VI1 速度环的PID的I,1是稳定在平衡角度之前的I值
VP2 速度环的PID的P,2是稳定后的P值
VI2 速度环的PID的I,2是稳定后的I值
K为LQR参数 3和4是速度控制稳定前和后
K31 LQR的参数1:稳定前的角度差值
K32 LQR的参数2:稳定前的左右倾倒加速度
K33 LQR的参数3:稳定前的当前速度
K41 LQR的参数1:稳定后的角度差值
K42 LQR的参数2:稳定后的左右倾倒加速度
K43 LQR的参数3:稳定后的当前速度

LQR算法解释:当三角形向←倾斜时,需要产生向→的力回正。

在电压控制下:回正力F直接和输出电压值挂钩,向←倾斜,电机提供正电压V动量轮向左加速转动,产生向右的力F。

期望电压 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3

在速度控制下:回正力F和动量轮转速加速度a有关,F = ma,向←倾斜,电机需要向左加速转动,产生向右的力F。

期望速度 = 角度差值x参数1 + 左右倾倒加速度x参数2 + 当前速度x参数3

两者区别:电压和速度控制都可以实现平衡,但因为使用simpleFOC控制电机转速无法无限加速,本电机实验最高转速180转,电压到上限12v。

使用电压控制会遇到,电机一下子就到了转速上限,就不能提供稳定的力F,参数调起来比较困难。

速度控制可以在偏差变大的时候,根据期望速度产生最大电压12v,并且不会超过电机最高转速。

4 硬件设计

使用立创EDA绘制电路原理图,LaserMaker绘制莱洛三角形和动量轮(有激光切割机可以事先切割结构作为参考)。将绘制完的图形导入到立创EDA中可作为PCB的外框。丝印图案分别是Gawr Guraouro kronii helicopter

LaserMaker绘制的plt在莱洛三角结构文件夹内,需要重新绘制电路图可以使用

感谢嘉立创的PCB制板,使DIY电路制作变得非常便利

5 Ctrl+C +V(参考)

Arduino上的控制算法是原作者的LQR,无刷驱动为立创开源的EG2133方案。

Python的GUI是以SimpleFOC的SimpleFOCStudio为基础,添加wifi功能。

V2的充电电路是在立创广场开源的《CN3300 4串电池组板》方案基础上改的3串锂电池

PCB以及原理图技术支持——muyan

wifi效果以及按键面修复代码作者——muyan

  1. 原作者:基于LQR控制器的自平衡莱洛三角形BV19v411n7mN
  2. muyan立创链接https://oshwhub.com/muyan2020?tab=project&page=1
  3. muyan git链接https://gitee.com/muyan3000
  4. EG2133驱动参考https://oshwhub.com/acmetech-lceda/minifoc
  5. 灯哥开源FOC https://gitee.com/ream_d/Deng-s-foc-controller
  6. CN3300 4串电池组板https://oshwhub.com/583703056a/dian-chi-zu-ban_copy_copy
  7. Arduino环境提供者https://github.com/kaliCYH

6 有用的地方

  1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用,无论是wifi接收到的字符串数据或者是串口的字符串数据。

  2. GUI上位机可以在其他wifi项目中可以继续使用,用来调参还是很方便。

7 交流群

  1. 45coll电子交流群:824113552(已满)
  2. 45coll电子交流2群:587563225

8 Q&A

  1. Q:设计图看不见了

A:立创版本管理问题,更新工程PCB后预览消失,需要查看项目PCB可以点下方点赞左边的克隆,将工程克隆到自己编辑器就可以查看

  1. Q:全部焊接好后、无法烧录程序

A:需要使用三个锂电池供电才能正常工作,然后打开开关后确保mpu6050的供电有5V,然后esp32芯片供电有3.3V,其次才能烧录程序后RGB灯效能正常转三圈(说明程序烧录进去了) 供电不正常请检查焊接,可以去掉后级的MT2492芯片查看前级供电是否正常 供电正常无法烧录程序可以试试调换ch340烧录器的TX、RX的杜邦线

  1. Q:烧录完成电机不转

A:烧录完成后RGB灯效转三圈,电机不动或抖动然后就灭了或者重启,那么是电机驱动部分电路没焊好,可以试试换掉电机驱动部分的六个AP2300mos管,换了mos管之后发现也不行可以换eg2133试试。(原因推测:电烙铁没有接地,焊接的时候静电击穿mos管) 小概率可能你忘记接电机线了,也可能接电机线的时候接反了,导致3p底座的2p短路了,更换3p底座可以解决。

  1. Q:电机初始化正常,但是不平衡

A:可以试试重新电机初始化,电机初始化是指在第一次上电的时候电机能够顺滑的左右转动,进行磁编码器的电角度确定。重新初始化可以长按点赞的触摸盘然后重启。 如果是能够摇摆到平衡角度,但是平衡一两秒就倒下了,有90%可能是mpu6050的问题,需要进行更换。(作者:我做了数百个三角形后发现mpu6050坏的概率有5%,均更换新的好了) 更换mpu6050后还不好,玄学问题可以进群讨论(我遇到两个无论换了什么元器件也修不好的

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You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007. Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law. 12. No Surrender of Others' Freedom. If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program. 13. Use with the GNU Affero General Public License. Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such. 14. Revised Versions of this License. The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns. Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License "or any later version" applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. 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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. 17. Interpretation of Sections 15 and 16. If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. END OF TERMS AND CONDITIONS How to Apply These Terms to Your New Programs If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms. To do so, attach the following notices to the program. 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Also add information on how to contact you by electronic and paper mail. If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode: <program> Copyright (C) <year> <name of author> This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details. The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an "about box". You should also get your employer (if you work as a programmer) or school, if any, to sign a "copyright disclaimer" for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see <http://www.gnu.org/licenses/>. The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read <http://www.gnu.org/philosophy/why-not-lgpl.html>.

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