Bicycle Roll Control Using Wheel Torque at Zero Speed
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Solution Overview
Problem
Existing bicycle control systems do not effectively assist riders in maintaining the attitude in the roll direction when the vehicle is not traveling, particularly at low speeds or when the rider's feet are on the pedals.
Innovation Solution
A bicycle system equipped with a motor, roll detector, and steering detector that applies torque to the front or rear wheel based on detected roll angle and steering direction when the vehicle speed is zero, assisting the rider in controlling the roll attitude by applying a torque to maintain the roll angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the bicycle uses motor torque control during traveling to maintain roll angle, then the bicycle stability during turning is improved, but the control system does not function when vehicle speed is zero or very low
Solution Approach 1:
The control system dynamically adapts its behavior based on vehicle speed conditions. When vehicle speed is greater than a threshold, the system operates in motor torque control mode. When vehicle speed is zero or below the threshold, the system switches to pedal torque control mode, allowing the same control system to effectively maintain roll stability across different operating states.
Solution Approach 2:
The system changes the control parameter from motor torque (when moving) to pedal torque (when stationary). This parameter change enables the control system to function effectively in both traveling and stationary states, resolving the contradiction between motor-based stability control and stationary state adaptability.
2Ease of operation
If the rider puts feet on the ground to control roll attitude when stationary, then roll control is possible, but the rider cannot use pedal-based control
Solution Approach 1:
The system enables the rider to use the pedals (which are already in position and part of the bicycle's normal interface) to control roll attitude when stationary. The pedals self-adjust to provide appropriate resistance or assistance based on the detected roll angle, eliminating the need for the rider to put feet on the ground and making full use of the existing pedal mechanism.
3Adaptability or versatility
If the motor applies torque to maintain roll angle when stationary, then pedal-based roll control is enabled, but additional control logic is required
Solution Approach 1:
The motor is designed to perform multiple functions: providing assist torque during traveling and providing resistance or corrective torque during stationary state for roll control. This multi-functionality allows the same motor and basic control structure to handle both moving and stationary conditions, adding minimal complexity while enabling pedal-based roll control at zero speed.
Data Source
AI summary
A bicycle includes a vehicle-body frame, a front wheel that is a steered wheel, a rear wheel, a crankshaft, a pedal, a transmission to transmit rotation of the pedal to the rear wheel, a motor to apply at least a torque to cause rearward rotation of at least one of the front wheel or the rear wheel, a roll detector to detect at least one of a roll angle or a roll angular velocity of the vehicle-body frame, and a steering detector to detect a direction of steering. When a vehicle speed is zero and a steering angle of the front wheel is not zero, the motor applies, to the at least one of the front wheel or the rear wheel, a torque to maintain the roll angle of the vehicle-body frame based on the detected direction of steering and the at least one of the roll angle or the roll angular velocity.