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Balance control method and device of self-balancing equipment, equipment and storage medium

A self-balancing and equipment technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of high nonlinearity of basic dynamics, failure of balance control, poor control effect, etc., to improve the effect of balance control Effect

Pending Publication Date: 2022-07-01
TENCENT TECH (SHENZHEN) CO LTD
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AI Technical Summary

Problems solved by technology

However, the underlying dynamics of the Ballbot system are highly nonlinear and unstable, thus requiring full system dynamics planning and control
Especially when the self-balancing equipment is tilted at a large angle, the model is in the nonlinear range, and the application of an inaccurate model for control will cause the balance control to fail, and the control effect is poor

Method used

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  • Balance control method and device of self-balancing equipment, equipment and storage medium
  • Balance control method and device of self-balancing equipment, equipment and storage medium
  • Balance control method and device of self-balancing equipment, equipment and storage medium

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Embodiment Construction

[0042] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted.

[0043] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, the present disclosure provides numerous specific details so that those skilled in the art can fully understand the embodiments. However, the techn...

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Abstract

The invention provides a balance control method and device for self-balancing equipment, the equipment and a storage medium, and relates to the technical field of robot control. The method comprises the following steps: acquiring a current pose change parameter of the self-balancing equipment deviating from a balance state; obtaining a current linear control rate of the self-balancing equipment according to the current pose change parameter; main control input is obtained according to the current pose change parameter and the current linear control rate; obtaining a current state vector according to the current pose change parameter; obtaining a secondary control input based on the current state vector; current actuation data is obtained based on the primary control input and the secondary control input to drive the self-balancing device to restore balance. The method is based on a machine learning technology, reinforcement learning feedback control is added on the basis of linear control, and the control effect of balance control is improved.

Description

technical field [0001] The present disclosure relates to the technical field of robot control, and in particular, to a balance control method, device, electronic device, and computer-readable storage medium of a self-balancing device. Background technique [0002] For robots, balance and dynamic movement capabilities are particularly important. Self-balancing equipment is a good platform to test the effectiveness of a balance controller, such as a ballbot. Ballbot is a dynamically stable mobile robot balanced on a single spherical wheel. Compared with other movement methods on the ground, this unique movement method enables the robot to move in all directions, which is very flexible and easy to maneuver. Likewise, continuous position adjustment allows the robot to be high enough for human interaction without tipping over with high acceleration. Moreover, balancing on the ball also makes the robot more suitable for human environments. However, the fundamental dynamics of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王帅张冲周伊凡林江浩
Owner TENCENT TECH (SHENZHEN) CO LTD
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