Two-Wheel Robot Braking Control for Inverted Pendulum Balance
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Solution Overview
Problem
Existing driving robots using an inverted pendulum face issues with balance control during sudden braking, leading to increased braking distance and time due to the need for preparatory maneuvers to adjust the pitch angle, which can result in prolonged stopping processes.
Innovation Solution
A robot with dual driving wheels, controlled by a processor to manage the rotation speeds and directions of the wheels based on specific conditions, allowing for simultaneous deceleration without requiring preparatory maneuvers by independently controlling the wheels' axes to adjust the pitch angle during braking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If sudden braking is used in an inverted pendulum robot, then braking force is applied, but the pitch angle changes in the (+) direction causing balance loss and requiring preparatory operations
Solution Approach 1:
The system performs preliminary actions by adjusting the pitch angle to the (−) direction before braking occurs. The processor controls the driving wheels to rotate in directions that preemptively counteract the expected pitch angle change during braking, eliminating the need for post-braking correction operations and reducing overall braking time.
Solution Approach 2:
The system applies preliminary anti-action by generating counteracting torque through coordinated wheel rotation before the harmful pitch angle change occurs. The driving wheels are controlled to produce a pitch angle adjustment in the (−) direction that opposes and prevents the (+) direction pitch change that would normally occur during sudden braking.
2Stability of the object's composition
If preparatory operations are performed to adjust pitch angle before braking, then balance is maintained, but braking distance and braking time become long
Solution Approach 1:
The system performs the pitch angle adjustment action in advance, before braking is initiated. By controlling the driving wheels to rotate in directions that adjust the pitch angle to the (−) direction prior to braking, the system eliminates the need for separate post-braking correction operations, thereby reducing total braking time while maintaining balance stability.
3Force
If only force parallel to the proceeding axis is used for braking, then braking is achieved, but braking distance and braking time become long
Solution Approach 1:
The system transitions from one-dimensional braking (force parallel to the proceeding axis only) to two-dimensional braking by incorporating pitch angle adjustment in the vertical dimension. The processor controls the driving wheels to simultaneously provide braking force parallel to the proceeding axis and generate torque for pitch angle adjustment, creating a multi-dimensional braking approach that reduces braking distance and time.
Data Source
AI summary
An electronic device includes a driving part including a first driving wheel and a second driving wheel; a memory storing at least one instruction; and at least one processor operatively coupled with the driving part and the memory, wherein the at least one processor is configured to execute the at least one instruction to: based on detecting an occurrence of an event for stopping the robot while the first driving wheel rotates at a first speed and the second driving wheel rotates at a second speed, control the driving part to stop the robot based on the first speed and the second speed, and wherein the at least one processor may be further configured to execute the at least one instruction to control the driving part to stop the robot by: based on a relation between the first speed and the second speed satisfying a first condition, controlling the driving part such that a proceeding axis of the first driving wheel rotates in a first direction and a proceeding axis of the second driving wheel rotates in a second direction opposite to the first direction, and based on the relation between the first speed and the second speed satisfying a second condition, controlling the driving part such that the first driving wheel and the second driving wheel rotate in different directions at a same speed.