Coaxial Vehicle Control System Using Segmented Velocity and Posture Loops
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing coaxial two-wheel vehicle control systems require expensive hardware for quick response and high computing power, leading to increased costs and performance deterioration when using inexpensive systems, and struggle with maintaining posture during constant velocity motion without inertial correction.
Innovation Solution
A moving body control system that adds an acceleration component to the posture velocity command, allowing the vehicle to stabilize without rider intervention, using a driving device, posture state detector, posture controller, and velocity controller to produce and control torque commands, enabling high-speed control at a lower cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If an expensive system with high computing power CPU and quick-response posture sensor is used, then control cycle speed is improved, but system cost increases
Solution Approach 1:
The control system is divided into two independent control loops: a posture control loop that runs at a lower cycle (e.g., 100Hz) and a velocity control loop that runs at a higher cycle (e.g., 1000Hz). This segmentation allows each loop to operate at its optimal speed without requiring expensive high-speed hardware for the entire system, reducing overall system cost while maintaining fast response where needed.
Solution Approach 2:
The invention dynamically adjusts the control cycle frequency based on the specific control task. The posture control operates at a slower cycle sufficient for maintaining vehicle attitude, while the velocity control operates at a faster cycle for responsive acceleration and deceleration. This dynamic approach optimizes performance across different operating conditions without requiring uniformly high-speed hardware throughout the system.
2Ease of manufacture
If an inexpensive system is employed, then system cost is reduced, but control cycle slows and control performance deteriorates
Solution Approach 1:
By segmenting the control functions into posture control and velocity control with different cycle requirements, the system can use inexpensive, slower processors for posture control while dedicating faster processing resources only to velocity control, thereby maintaining high control performance in critical functions without requiring expensive high-speed hardware for all control operations.
Solution Approach 2:
The system changes the control cycle parameter dynamically based on the control function being executed. Posture control uses a longer cycle period suitable for stable attitude maintenance, while velocity control uses a shorter cycle period for rapid response. This parameter adaptation allows inexpensive hardware to achieve adequate performance for posture control while maintaining high performance for velocity control through optimized timing parameters.
3Speed
If the vehicle travels at constant velocity while inclined, then uniform motion is achieved, but the vehicle cannot provide inertial force to correct inclination, requiring cumbersome rider operation
Solution Approach 1:
The control system automatically provides inertial force correction by detecting vehicle inclination and generating appropriate acceleration commands, eliminating the need for the rider to perform cumbersome operations. The system serves itself by autonomously compensating for inclination during constant velocity travel through the integrated posture and velocity control loops, improving ease of operation.
Solution Approach 2:
The system continuously monitors vehicle posture through the posture sensor and uses this feedback to generate corrective velocity commands. When inclination is detected during constant velocity travel, the feedback loop automatically adjusts the velocity command to produce inertial force that corrects the inclination, eliminating the need for manual rider intervention and reducing operation complexity.
Data Source
AI summary
A moving body control system includes a driving velocity detector that detects a driving velocity of a driving device that drives a moving body, a posture state detecting device that detects posture information of the moving body, a posture controller that produces a first driving velocity command for the driving device, based on the posture information and an entered posture information command, a velocity command producer that produces a second driving velocity command for the driving device, by adding the first driving velocity command and the driving velocity, and a velocity controller that controls the driving device, by producing a torque command for the driving device, based on the second driving velocity command and the driving velocity. The velocity controller performs velocity control so that the driving velocity follows the second driving velocity command. The posture controller performs posture control so that the posture information follows the posture information command.