Transport Robot Wheel Synchronization for Precise Trajectory Control
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Solution Overview
Problem
The existing methods for controlling the movement of transport robots fail to accurately match the independent servo driving systems, leading to different motor responses and difficulties in achieving precise linear movement along a predetermined trajectory.
Innovation Solution
A method that acquires actual moving distances of both driving wheels, determines following errors, and generates position adjustment instructions to reduce the deviation between the actual and predetermined trajectories, implementing coupled control of the motors through servo driving systems to synchronize their operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If independent closed-loop control is performed for two driving wheels respectively, then each servo driving system can be controlled independently, but the different dynamic characteristics of the motors result in different responses and affect the accuracy of the moving trajectory
Solution Approach 1:
The patent merges the control of two independent servo driving systems into a unified coupled control system. By establishing a coupling relationship between the left and right driving wheels through coordinate transformation and unified control algorithms, the system synchronizes the operation of both motors, eliminating trajectory deviations caused by independent control while maintaining the ability to independently adjust each wheel's motion parameters.
2Manufacturing precision
If coupled control is implemented to synchronize the two servo driving systems, then trajectory accuracy is improved, but the control system complexity increases
Solution Approach 1:
The patent introduces an intermediary coordinate transformation mechanism that couples the two independent servo driving systems. By using coordinate transformation as a mediator, the system establishes mathematical relationships between the left and right driving wheels, enabling synchronized control without directly complicating the hardware architecture. This intermediary approach allows trajectory accuracy improvement while keeping the control system structure manageable.
3Adaptability or versatility
If parameter adjustment is performed according to respective response conditions of each driving wheel, then individual motor characteristics are accommodated, but matching between the two servo driving systems is not achieved
Solution Approach 1:
The patent employs parameter transformation through coordinate systems to achieve system-wide coordination. By transforming the control parameters from independent wheel-based coordinates to a unified trajectory-based coordinate system, the method enables both individual motor characteristic adaptation and overall system coordination. The parameter changes allow each motor to operate according to its characteristics while maintaining synchronized motion along the desired trajectory.
Data Source
AI summary
A method of controlling movement of a transport robot including determining a following error of a left driving wheel and a following error of a right driving wheel according to actual moving distances of the left driving wheel and the right driving wheel and a predetermined moving trajectory; determining a deviation error between the actual moving trajectory and the predetermined moving trajectory of the transport robot based on the following error of the left driving wheel and the following error of the right driving wheel, generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel according to the deviation error; transmitting the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel to a first servo driving system and a second servo driving system respectively to reduce a moving deviation.