E-bike Control Device Stabilization via Inclination Rate Monitoring
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Solution Overview
Problem
Existing human-powered vehicle control devices do not adequately manage changes in yaw, roll, and pitch angles during travel on slopes, leading to instability and inefficient propulsion assistance.
Innovation Solution
A human-powered vehicle control device with an electronic controller that adjusts the motor and transmission states based on inclination angle changes, switching between control states to optimize assist force and ratio in response to yaw, roll, and pitch angle rates, ensuring stable vehicle behavior and appropriate propulsion assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control device only considers road gradient for controlling human-powered vehicle components, then the control system remains simple, but the vehicle becomes unstable on slopes with rapid inclination angle changes
Solution Approach 1:
The control device preliminarily identifies unstable states by monitoring inclination angle change rates before actual instability occurs. When the change rate exceeds a threshold, the system proactively switches to a second control state that prioritizes stability, preventing problematic situations rather than reacting to them.
Solution Approach 2:
The control system dynamically adjusts its behavior based on real-time inclination angle change rates. It transitions between two control states: a first state for normal operation and a second state for rapid change conditions. This dynamic adaptation allows the system to maintain simplicity while responding appropriately to varying terrain conditions.
2Reliability
If the control device switches to a second control state for rapid inclination changes, then vehicle stability improves, but propulsion assistance efficiency may decrease
Solution Approach 1:
The system dynamically switches between control states based on terrain conditions. In the second control state during rapid inclination changes, priority is given to stability over propulsion efficiency. However, this is temporary and context-dependent, allowing the system to optimize for the immediate need rather than maintaining a fixed compromise.
Solution Approach 2:
The second control state applies stability-focused adjustments that may be more conservative than optimal for propulsion efficiency. This partial action (prioritizing stability) is applied only when necessary during rapid inclination changes, accepting temporary reduction in propulsion efficiency to ensure vehicle controllability and safety.
3Reliability
If the control device monitors only road gradient, then the measurement system remains simple, but it cannot detect rapid inclination angle changes that cause instability
Solution Approach 1:
The control device implements feedback by continuously monitoring inclination angle change rates and using this information to adjust control states. This feedback mechanism enables the system to detect rapid changes that simple gradient monitoring would miss, improving reliability without requiring complex additional sensors.
Solution Approach 2:
By monitoring inclination angle change rates in advance, the system preliminarily identifies potentially unstable conditions before they manifest as actual instability. This preliminary detection allows the control system to prepare and switch to appropriate control states proactively.
Data Source
AI summary
A human-powered vehicle control device includes an electronic controller that controls a human-powered vehicle component including at least one of a motor assisting in propulsion of a human-powered vehicle and a transmission changing a first ratio of a rotational speed of a drive wheel to a rotational speed of a crank of the human-powered vehicle. The electronic controller controls the human-powered vehicle component in a first control state and a second control state differing from the first control state. The electronic controller changes the first control state to the second control state upon determining a value related to a first change rate of an inclination angle of the human-powered vehicle is greater than or equal to a first predetermined value in the first control state. The inclination angle of the human-powered vehicle includes at least one of a yaw angle and a roll angle of the human-powered vehicle.