Bike-XUAN-HLL

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$\quad$ The entire project mainly reproduces Zhi Huijun's XUAN bicycle,Unfortunately, Mr. Zhihui only opened up the mechanical structure and did not open up his own control program implementation, there are certain differences in the specific technical solutions. The mechanical structure has made small improvements to the support mechanism of the momentum wheel, and the original movable structure has been removed. For motor control, odrive is used. The entire control program is based on the ROS communication middleware, combined with the CAN bus for direct data interaction with the NUC, without using a separate microcontroller to drive the motor. The control algorithm uses the classic three-loop PID control. It also has a simple obstacle avoidance system based on vision, and the final overall operating effect is as follows.

go straight	avoid obstacle

$\quad$ At the same time, it is worth mentioning that the AI processing module uses the same Huawei Ascend Atlas 200 DK processing chip as Zhi Huijun. Sponsored by the CASC.

1. Main hardware selection

Sensor	Type
battery	DJI Roomaster 6S battery
processor unit	Intel NUC OR Huawei Ascend
Momentum and rearwheel motor	X8018 motor
IMU	IMU-CH100
Brushless motor drive	odrive
servo	60KG Serial servo
Camera	Astra S
Some mechanical structural parts	Resin printing or metal processing
bike	fixed gear
remote control	DJI Robomaster remote control

2. Introduction to core control nodes

• can_send_receive_node

  This node is mainly responsible for regularly sending CAN commands to Odrive so that Odrive can return the click speed and position information to NUC. Then the received data is parsed and published to ROS.

• parser_remote_data

  This node is responsible for receiving DJI remote control serial port data, parsing and publishing it to ROS.

• bike_xuan_control_node

  This node is the core node of the entire system, runs the overall control algorithm, and sends control information to Odrive through the CAN bus to achieve balance.

3. Quick start

• Launch IMU

roslaunch imu_launch imu_msg.launch

• Start the remote control parsing node

rosrun bike_core parser_remote_data_node

• Start the CAN message sending node

 rosrun bike_core can_send_receive_node

• Start the core control node

 rosrun bike_core bike_xuan_core_control_node

4. Parameter debugging quick

$\quad$ The bicycle attitude control algorithm used in this project is a three-loop PID control algorithm. From outside to inside, there are speed loop, angle loop and angular velocity loop. The debugging sequence is based on the inside-out principle. Other important system parameters for the initial balancing in the project are as follows. By writing them in the YAML file, you can easily change the parameters. And other pid param, you can also config them by the yaml file.

%YAML:1.0
---
IMU.Machine.Middle.Angle: 2.89
Middle.Angle.Tolerance.Change.ABSValue: 1.0
Output.Middle.Angle: 1
Servo.PWM.Middle.Value: 1700
Bike.Turn.Scale: 0.005
Bike.Middle.Angle.Rectify.Scale: 0.0001
Middle.Angle.Rectify.Calculate.Time: 100
Bike.Middle.Angle.Rectify.Limit.Abs.Angle: 1.5

Axis0.Can.ID: 0x010
Axis1.Can.ID: 0x020

Debug.Faucte.Dir: 1
Debug.Momentum.Wheel: 1
Debug.Back.Drive.Wheel: 1

Servo.Port.Name: "/dev/dbus_serial"
Servo.ID: 0

Dbus.Serial.Port.Name: "/dev/sbus_serial" 
Imu.Serial.Port.Name: "/dev/imu_serial" # nousing

# avoid obstacle config params
Tolerance.Nearest.Obstacle.Dis: 1.7
Avoid.Obstacle.Drive.Speed: 2.4
Faucet.Dir.Control.Rate: 20
Faucet.Dir.Error.P: 1.0
Faucet.Dir.Output.ABS.Limit: 3

Reference

• peng-zhihui-XUAN
• ODrive
• Ascend-projects

Contact me

If you have any technical questions, please contact me in time.

• Email: weihaoysgs@gmail.com
  
• Blog: www.weihaoysgs.com