Wheeled Robot Standstill Control with Balance-Error Torque Compensation

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing control methods for wheeled robots struggle with stable balance control due to differences between actual and desired balance points, often resulting in errors in wheel rotation torque and poor stability.

Innovation Solution

A motion state control method that involves determining a state matrix embodying balance errors in the wheeled robot, using this matrix to calculate the necessary torque for balance control, and continuously adjusting the robot's state to achieve a standstill position.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If a conventional linear model is used for balance control, then the control system is simple to implement, but the balance control accuracy deteriorates due to differences between actual and desired balance points

Engineering Contradiction:

Improvecontrol system complexityVSAvoidbalance control accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent transforms the balance control problem from a conventional linear model to a state-space model, changing the mathematical representation parameters. This involves defining state variables (position, velocity, acceleration) and using a state transition matrix to accurately represent the dynamic characteristics of the wheeled robot, thereby improving balance control accuracy while maintaining reasonable system complexity

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent replaces the conventional linear control model with a state-space mathematical model. This substitution uses matrix operations and state variable transformations instead of traditional linear control equations, enabling more accurate representation of the robot's actual balance point and dynamic behavior

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Device complexity

If the balance point is not accurately compensated for mounting errors, then the control model remains simple, but the wheel rotation torque accuracy deteriorates

Engineering Contradiction:

Improvecontrol model complexityVSAvoidwheel rotation torque accuracy

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The patent implements feedback compensation by continuously monitoring the robot's state variables and using the state transition matrix to calculate the required wheel rotation torque. The control system compares the desired state with the actual state and adjusts the torque accordingly, compensating for mounting errors and manufacturing variations in the balance point

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent performs preliminary compensation for balance point deviations by establishing the state-space model and state transition matrix before actual operation. This allows the control system to pre-calculate the necessary torque adjustments based on known mounting errors, eliminating the need for complex real-time corrections during operation

Inventive Principle:

Principle #10Preliminary action

3Device complexity

If continuous adjustment based on balance error is not implemented, then the control process is simpler, but the stability of the standstill state deteriorates

Engineering Contradiction:

Improvecontrol process complexityVSAvoidstandstill state stability

Core Design Contradiction:

Device complexityVSStability of the object's composition

Solution Approach 1:

The patent implements continuous balance control by continuously calculating the state variables and applying torque adjustments based on the state transition matrix. This continuous action ensures the robot maintains its desired state and recovers from disturbances, achieving stable standstill operation through uninterrupted control effort

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The patent uses dynamic state-space modeling to represent the robot's balance behavior, allowing the control system to adapt to changing conditions. The state transition matrix captures the dynamic characteristics of the system, enabling the controller to adjust torque in real-time based on the current state, thereby maintaining stability during transitions to and from standstill

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12321180B2Motion state control method and apparatus, device, and readable storage medium

Publication Date: 2025.06.03 TENCENT TECHNOLOGY (SHENZHEN) CO LTD

AI summary

This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.