Coaxial Two-Wheeled Vehicle Turning Gain Control
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Solution Overview
Problem
Conventional coaxial two-wheeled vehicles face instability during turning movements, particularly when careless handling occurs, due to the structural instability and lack of effective control methods.
Innovation Solution
A coaxial two-wheeled vehicle system that includes drive means, turning reference-input input means, and control means to adjust the turning gain based on vehicle speed, switching between forward and backward traveling modes to maintain stability and enable smooth turning operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a coaxial two-wheeled vehicle performs turning control using conventional simple control methods, then the vehicle can execute turning movements, but the vehicle may lose stability and tumble during turning when careless handling occurs
Solution Approach 1:
The patent applies dynamics by making the turning gain variable rather than fixed. The turning gain is dynamically adjusted based on vehicle speed: it is set to substantially zero when backward speed exceeds a first threshold, increased to a value greater than zero when vehicle speed is substantially zero, and changed continuously between these states. This dynamic adjustment prevents instability during turning operations while maintaining ease of control.
2Device complexity
If the turning gain is set to a fixed value for all speed conditions, then the control system is simple, but the vehicle cannot prevent instability during backward turning at high speeds
Solution Approach 1:
The patent applies parameter changes by modifying the turning gain parameter based on vehicle speed conditions. The control means changes the turning gain from substantially zero at high backward speeds to a value greater than zero at zero vehicle speed, with continuous transition between states. This parameter adaptation enables the system to maintain stability across different operating conditions without requiring a completely complex control architecture.
3Ease of operation
If the turning gain is increased to enable on-the-spot turning at zero speed, then the vehicle can perform precise positioning, but the vehicle becomes unstable during backward turning at higher speeds
Solution Approach 1:
The patent resolves this contradiction through dynamic adjustment of the turning gain based on real-time speed feedback. When vehicle speed is substantially zero, the turning gain is set to a value greater than zero to enable on-the-spot turning and precise positioning. When backward speed exceeds the first threshold, the turning gain is set to substantially zero to prevent instability. The continuous transition between these states ensures smooth control without abrupt changes.
Data Source
AI summary
To provide a coaxial two-wheeled vehicle capable of performing a turning movement with stability and its control method. A coaxial two-wheeled vehicle in accordance with the present invention includes drive means to drive two coaxially-arranged wheels, turning reference-input input means to input a turning reference input, and control means to control the drive means according to a turning gain based on a turning reference-input input by the turning reference-input input means to thereby perform a turning movement. The control means preferably brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward speed greater than or equal to a first speed, and sets the turning gain to a value greater than zero when a vehicle speed is substantially zero.