Drive Wheel Thrust Control for Vehicle Center of Gravity Shifts
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional vehicles with independently driven wheels struggle to accurately estimate the center of gravity position, especially when loaded, leading to issues like load imbalance and difficulty in navigating desired paths.
Innovation Solution
A vehicle control device that includes a thrust calculation unit, a center of gravity calculation unit, and a control unit to calculate and control the rotational speeds of drive wheels based on the center of gravity position, allowing for precise control of vehicle travel and load distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional vehicles with independently driven wheels are used, then the vehicle structure is simple and easy to manufacture, but the center of gravity position cannot be accurately estimated leading to load imbalance and navigation difficulties
Solution Approach 1:
The vehicle control device uses its own existing sensor data (acceleration, wheel speeds, steering angle) to calculate the center of gravity position without requiring external measurement equipment. The thrust calculation unit computes thrust based on wheel speeds and vehicle dynamics, then the center of gravity calculation unit determines the center of gravity position from these thrust values, enabling the system to self-diagnose and adapt to loading conditions
Solution Approach 2:
The system dynamically changes control parameters (thrust distribution to drive wheels) based on the calculated center of gravity position. When the center of gravity position changes due to loading variations, the control unit adjusts the thrust values for each drive wheel to maintain balanced vehicle operation and accurate path following
2Adaptability or versatility
If the vehicle operates with fixed control parameters, then the control system is simple, but the vehicle cannot adapt to changes in load state leading to unstable navigation
Solution Approach 1:
The system establishes a feedback loop where the center of gravity calculation unit continuously monitors the center of gravity position based on real-time thrust calculations, and the control unit adjusts the drive wheel thrust accordingly. This closed-loop control enables the vehicle to automatically adapt to loading changes by comparing the calculated center of gravity position with the desired position and modifying thrust distribution to correct any imbalances
Solution Approach 2:
The control system transitions from static fixed parameters to dynamic adjustable parameters. The thrust values for drive wheels are no longer constant but are continuously modified based on the calculated center of gravity position, allowing the vehicle to dynamically adapt its control characteristics to match current loading conditions and maintain stable navigation
3Manufacturing precision
If thrust is not adjusted based on center of gravity position, then the control system is simple, but the vehicle experiences load imbalance and cannot navigate desired paths accurately
Solution Approach 1:
The control system applies different thrust values to different drive wheels based on their specific positional relationship with the center of gravity. Instead of uniform thrust distribution, each drive wheel receives customized thrust control tailored to its location relative to the calculated center of gravity position, enabling precise compensation for load imbalances and accurate path following
Data Source
AI summary
A vehicle includes a vehicle body, drive wheels that are mounted to the vehicle body at two positions, which are right and left positions with respect to a traveling direction, and respectively have motors, and steerable driven wheels mounted to the vehicle body. A vehicle control device controls drive of the motors to control travel of the vehicle. The vehicle control device includes a thrust calculation unit that calculates a thrust produced by rotation of the motors at the drive wheels when the vehicle travels on a predetermined path, a center of gravity calculation unit that calculates a position of a center of gravity of the vehicle in a coordinate system whose origin is a center position between the drive wheels, based on the thrust, and a control unit that controls rotational speeds or moving velocities of the drive wheels based on the position of the center of gravity.