Robotic Vehicle Lid Control With Position-Based Torque Reversal
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Solution Overview
Problem
Autonomous robotic vehicles face challenges in smoothly operating their lids without causing inconvenience, damaging items, or damaging the lid or other components, due to external environmental forces like gravity and wind.
Innovation Solution
A lid controller mechanism that uses a motor controlled by a processor, adjusting the electric current based on the angular position of the lid to counteract external torques, and implementing a method with three phases of movement where the orientation of the coupling force alternates to adapt to expected torques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor operates the lid without dynamic current adjustment, then the structure is simple, but the lid movement becomes rough and may cause damage due to uncounteracted external torques
Solution Approach 1:
The motor control system dynamically adjusts the electric current based on the real-time angular position of the lid. The processor receives position feedback and modulates the motor current accordingly, transforming a static control system into a dynamic one that adapts to changing gravitational and environmental torques throughout the lid's rotation range
Solution Approach 2:
The system implements a feedback loop where the motor controller receives information about the lid's angular position and adjusts the electric current supplied to the motor. This closed-loop control ensures the motor counteracts external torques effectively by continuously monitoring and responding to the lid's position, thereby achieving smooth movement without excessive structural complexity
2Reliability
If the motor exerts constant coupling force on the lid, then the control system is simple, but the lid may be damaged by excessive force at certain angular positions
Solution Approach 1:
The coupling force exerted by the motor is made dynamic rather than constant. The processor adjusts the electric current magnitude based on the lid's angular position, reducing force when the lid is near horizontal positions where gravitational torque is minimal, and increasing force when needed to counteract higher torques, thereby preventing damage without requiring an overly complex control mechanism
Solution Approach 2:
The system changes the electrical parameter (current magnitude) supplied to the motor based on the lid's angular position. By modulating the current parameter in response to position feedback, the motor's coupling force is dynamically adjusted to match the varying external torques, ensuring reliable protection against excessive force while maintaining manageable system complexity
3Ease of operation
If the motor operates without phase-based current alternation, then the control logic is simple, but the lid movement becomes inefficient and may cause inconvenience to users
Solution Approach 1:
The lid's rotation range is segmented into multiple phases based on angular positions. The motor controller applies different current directions and magnitudes in different phases: one direction to overcome gravitational torque when opening, another direction or reduced current when closing. This segmentation of the motion into controlled phases ensures smooth, user-friendly operation while keeping the control logic structured and manageable
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures seamless and controlled movement of the lid, preventing damage and ensuring smooth operation by dynamically adjusting the motor's coupling force in response to external environmental forces.
Implementation Method 1
The lid is operated by a motor, the motor receiving an electric current controlled by a processor
Implementation Method 2
external environmental forces such as gravitational force and wind load may exert respective torque on the lid, values of the torque varying with an angular position of the lid around the rotation axis
Data Source
AI summary
Method of operating a lid of a robotic vehicle. The lid is operable by a motor between an opened and a closed positions. When the lid is between the opened position and a first intermediary position, a first electric current having a first value is provided to the motor for exerting a first force on the lid. When the lid is between the first intermediary position and a second intermediary position, a second electric current, having a second value whose sign is opposite to a sign of the first value, is provided to the motor for exerting a second force on the lid. The second force is applied in an opposite direction of the first force. When the lid is between the second intermediary position and the closed position, a third electric current having a third value having a same sign than the first value is provided to the motor.