Robot Motion Control with Dual PID-PPI Command Switching
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Solution Overview
Problem
Existing programmable rovers and robots require complex programming for movement control, which can be burdensome for users in educational and entertainment settings, as they need to specify detailed motor signals for wheels or treads, rather than intuitive parameters like speed, time, and direction.
Innovation Solution
A system utilizing a high-level controller to interpret movement commands specifying start and end positions, time, and type (linear or angular), and a low-level controller to correct deviations using Proportional/Proportional-Integral (PPI) and Proportional-Integral-Derivative (PID) controllers, converting these commands into motor signal levels based on inertia measurement data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If detailed motor signals are specified for movement control, then movement precision is improved, but programming complexity increases
Solution Approach 1:
The control system is divided into two distinct layers: a high-level controller that processes intuitive movement commands (specifying start position, end position, time, and movement type) and a low-level controller that executes detailed motor control signals. This segmentation allows users to interact with the system using simple parameters while the system automatically handles the complex motor signal generation, thus improving movement precision without increasing programming complexity for the user.
Solution Approach 2:
The high-level controller acts as an intermediary between the user's simple movement commands and the low-level motor control system. It translates intuitive parameters (linear velocity, end position, time duration) into the detailed motor signals required for precise movement execution, thereby shielding the user from programming complexity while maintaining movement precision.
2Ease of operation
If intuitive movement parameters are used, then ease of operation is improved, but movement accuracy deteriorates
Solution Approach 1:
The low-level controller continuously monitors the device's actual movement and compares it with the intended trajectory defined by the high-level controller. Using feedback from sensors (including inertia measurement), the system automatically adjusts motor signals to correct deviations, ensuring that intuitive movement parameters result in accurate movement execution. This feedback mechanism bridges the gap between simple user input and precise movement output.
Solution Approach 2:
The system replaces manual fine-tuning of motor signals with an automated control algorithm that uses intuitive parameters (linear velocity, end position, time) to generate precise movement commands. The controller automatically calculates the appropriate motor signals and makes real-time adjustments, substituting the need for complex manual programming with an automated system that maintains accuracy while being easy to operate.
3Manufacturing precision
If complex programming is required, then movement control precision is improved, but user burden increases
Solution Approach 1:
By segmenting the control system into high-level and low-level controllers, the patent isolates the complex programming tasks within the system's internal architecture while presenting a simplified interface to the user. The high-level controller handles intuitive parameter input, and the low-level controller manages precise motor control, effectively hiding the programming complexity from the user while maintaining movement control precision.
Solution Approach 2:
The control system performs self-service by automatically generating and adjusting motor control signals based on simple user inputs. The high-level controller translates intuitive parameters into detailed commands, and the low-level controller autonomously fine-tunes motor signals in real-time based on feedback, eliminating the need for users to engage in complex programming while ensuring precise movement control.
Data Source
AI summary
Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.