Tracked Robot Wheel Synchronization for Smooth Motion Control
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Solution Overview
Problem
Existing remotely operated robots moving on tracks experience uneven wheel rotation due to factors like spinning, gliding, and loading, leading to rough movements and potential off-lead angles when wheels are controlled individually.
Innovation Solution
A method and controller system that monitors each wheel with speed and angular position sensors, synchronizing pairs of wheels through a master controller to establish and transmit individual speed driving sequences for smooth movement from start to stop positions, accounting for current wheel speeds and global robot position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If each wheel is controlled individually with separate driving means, then responsive control of acceleration and deceleration is improved, but wheel speed synchronization deteriorates due to spinning, gliding, and loading differences
Solution Approach 1:
The system continuously monitors the rotational speed of each wheel using speed sensors and feeds this information back to the control unit. The control unit compares the actual speeds with target speeds and adjusts the driving torque for each wheel accordingly, ensuring synchronization while maintaining responsive acceleration and deceleration control.
Solution Approach 2:
The patent combines individual wheel control capability with centralized synchronization management. Each wheel retains its independent driving means for responsive control, while the control unit merges all wheel speed information to generate coordinated speed driving sequences that ensure synchronous movement across all wheels.
2Ease of operation
If wheels are controlled individually, then independent speed control is improved, but robot movement smoothness deteriorates due to off-lead angles
Solution Approach 1:
Speed sensors on each wheel provide continuous feedback to the control unit, which uses this information to generate synchronized speed driving sequences. This ensures that while each wheel can be controlled independently for ease of operation, the feedback mechanism maintains movement smoothness by preventing off-lead angles through coordinated speed adjustment.
Solution Approach 2:
The system dynamically adjusts the speed of each wheel based on real-time conditions and synchronization requirements. The control unit generates adaptive speed driving sequences that modify individual wheel speeds while maintaining overall coordinated movement, allowing independent control capability while preserving movement smoothness.
3Stability of the object's composition
If similar sized wheels rotate at the same speed, then movement stability is improved, but control flexibility deteriorates when individual wheel adjustments are needed
Solution Approach 1:
The control unit dynamically generates speed driving sequences that adjust individual wheel speeds based on synchronization requirements and operational needs. This allows the system to maintain movement stability through coordinated control while simultaneously providing the flexibility to make individual wheel adjustments when necessary, adapting to various operational conditions.
Solution Approach 2:
The system changes the speed parameter of individual wheels dynamically based on synchronization requirements and operational conditions. The control unit monitors wheel speeds and adjusts individual wheel parameters while maintaining overall synchronization, enabling both movement stability and individual adjustment flexibility through parameter modulation.
Data Source
AI summary
A method and a controller for controlling movements of a robot from a start to a stop position, where the robot has pairs of wheels having drivers that are controlled by local controllers. Based on a current speed and an angular position of each wheel and a position of the robot relative to the frame structure, a master controller sets up individual speed driving sequences for the pair of wheels based on the current speed and angular position of each wheel, current global position of the robot, and the start and stop positions of the robot. The speed driving sequence is transmitted to the local controllers controlling the pair of wheels, thereby controlling acceleration and deceleration of each wheel via the individual drivers. The local controllers ensure that pairs of wheels are kept synchronised.