Inverted Pendulum Control for Disturbance Compensation
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Solution Overview
Problem
Inverted pendulum moving apparatuses face instability and shake issues on various road surfaces, particularly soft surfaces, due to unaddressed multiple disturbance forces, which existing technologies struggle to compensate for effectively.
Innovation Solution
An inverted pendulum moving apparatus with an inversion control part that discriminates the cause of disturbance forces based on wheel rotation state and determines output torque accordingly to stabilize the apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the inverted pendulum moving apparatus accelerates in anteroposterior directions at small intervals for balance, then the apparatus maintains dynamic stability, but the operation becomes unstable and shake increases on soft road surfaces due to disturbance forces
Solution Approach 1:
The control device estimates disturbance forces acting on the wheels using sensor data (wheel angular velocity, motor torque, inclination angle) and feeds this information back to adjust motor output torque in real-time, compensating for road surface effects and maintaining stable operation
Solution Approach 2:
The control device dynamically adjusts motor output torque parameters based on estimated disturbance forces, wheel rotation direction, and road surface conditions, changing control parameters adaptively to maintain stability across different operating conditions
2Adaptability or versatility
If existing disturbance force correction technologies are applied, then one kind of disturbance force is addressed, but other disturbance forces are not addressed and may amplify shake when wheel velocity direction changes
Solution Approach 1:
The control device integrates multiple disturbance force estimation and correction functions into a single system that handles various road surface conditions (soft surfaces, slopes, level differences) by estimating disturbance forces in multiple directions and applying comprehensive corrections
Solution Approach 2:
The control device dynamically adapts its disturbance force estimation and correction approach based on real-time wheel rotation direction and velocity, adjusting the correction strategy to match current operating conditions and prevent shake amplification
3Speed
If the apparatus operates on soft road surfaces, then mobility is reduced due to wheels sinking and resisting forces, but stability is further compromised by unaddressed disturbance forces
Solution Approach 1:
The control device estimates disturbance forces before they significantly impact operation and applies preemptive torque corrections to counteract the effects of soft road surfaces, preventing wheel sinking and maintaining stability proactively
Data Source
AI summary
The invention is directed to an inverted pendulum moving apparatus that may address various kinds of disturbance forces and a control method therefor. The apparatus has one or more wheels coaxially arranged and a center of gravity of parts other than the wheel located above an axle, includes an inversion control part that discriminates a cause of a disturbance force based on a wheel rotation speed of the wheel and the disturbance force and determines output torque to the wheel based on the determination result.