Wheeled Robot Balance Control Using State Matrix Torque Compensation
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Solution Overview
Problem
Existing wheeled robot balance control systems face instability due to discrepancies between actual and desired balance points caused by mounting errors and model differences, leading to inaccurate torque requirements for balance control.
Innovation Solution
A motion state control method for wheeled robots that involves determining a state matrix embodying balance errors, using an observer to iteratively update this matrix, and applying torque based on the matrix to stabilize the robot in a standstill state.
Engineering Contradictions & Design Principles
Engineering 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 mounting errors and model differences
Solution Approach 1:
The patent transitions from a static linear model to a dynamic state-space model that adapts to actual robot conditions. The state-space representation allows the system to dynamically adjust control parameters based on real-time state measurements, resolving the contradiction between model simplicity and control accuracy by introducing manageable dynamic complexity.
Solution Approach 2:
The patent changes the control parameters from fixed linear model parameters to state-dependent parameters in the state-space model. By using state feedback where control torque depends on current state variables (position, velocity, acceleration), the system adapts to mounting errors and model differences while maintaining a structured control framework.
2Ease of manufacture
If the balance point is determined based on a desired model, then the control design is straightforward, but the actual balance control stability deteriorates due to discrepancies between model and reality
Solution Approach 1:
The patent implements state feedback control where the control torque is continuously adjusted based on the difference between actual and desired states. The state-space model incorporates feedback from actual robot state measurements, allowing the system to compensate for model-reality discrepancies and maintain stable balance control while preserving design simplicity.
Solution Approach 2:
The patent performs preliminary system identification to determine accurate state-space model parameters before implementing control. By pre-characterizing the actual robot dynamics including mounting errors, the system prepares corrected model parameters that improve stability while keeping the control design process systematic and manageable.
3Speed
If torque is calculated without considering actual balance errors, then the control calculation is fast, but the wheel rotation torque accuracy deteriorates leading to poor balance control
Solution Approach 1:
The patent replaces traditional mechanical torque calculation methods with a state-space based computational approach. By using matrix operations and state feedback equations, the system efficiently calculates accurate torque commands that account for actual balance errors, maintaining fast computation through algorithmic optimization while improving torque accuracy.
Data Source
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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.