The invention discloses a self-balancing robot control method and system, a self-balancing robot and a medium, the self-balancing robot comprises a frame, a momentum wheel and a momentum wheel controller, the momentum wheel controller provides torque for the momentum wheel, and the method comprises the steps of determining the current self-balancing state of the self-balancing robot; determining afirst torque component for the momentum wheel according to a first non-linear function based on a current self-balancing state, the first non-linear function being determined based on a kinetic characteristic of the self-balancing robot; determining a second torque component for the momentum wheel according to a second nonlinear function based on the current self-balancing state, the second nonlinear function being determined based on a kinetic characteristic of the self-balancing robot, and the second nonlinear function being different from the first nonlinear function; generating a torque of the momentum wheel based on the first torque component and the second torque component; and providing the torque to the momentum wheel by a momentum wheel controller.
公开了一种自平衡机器人控制方法、系统、自平衡机器人及介质,自平衡机器人包括车架、动量轮及动量轮控制器,该动量轮控制器为该动量轮提供转矩,且该方法包括:确定自平衡机器人的当前自平衡状态;基于当前自平衡状态,根据第一非线性函数确定用于所述动量轮的第一转矩分量,其中第一非线性函数是基于所述自平衡机器人的动力学特性确定的;基于当前自平衡状态,根据第二非线性函数确定用于所述动量轮的第二转矩分量,其中第二非线性函数是基于所述自平衡机器人的动力学特性确定的,并且第二非线性函数与所述第一非线性函数不同;基于第一转矩分量和第二转矩分量,生成所述动量轮的转矩;通过动量轮控制器,将该转矩提供给所述动量轮。
Self-balancing robot control method and system, self-balancing robot and medium
自平衡机器人控制方法、系统、自平衡机器人及介质
2020-08-18
Patent
Electronic Resource
Chinese
Self-balancing robot control method and system, self-balancing robot and medium
European Patent Office | 2020
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