Inverted Pendulum Vehicle Control Gain Adjustment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Inverted pendulum type vehicles experience discomfort and instability during occupant mounting and dismounting due to forward tilting, leading to potential vehicle movement and an uncomfortable ride.
Innovation Solution
The vehicle incorporates a moving motion unit, an actuator device, a tiltable occupant riding section, a tilting state detection unit, and a control device with adjustable control gains to manage the tilting state, ensuring smooth transitions between support states during occupant entry and exit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle body and riding seat are tilted forward for mounting and dismounting, then the occupant can easily step onto the vehicle, but the vehicle may start to move forward unintentionally causing discomfort
Solution Approach 1:
The control gain is dynamically adjusted based on the detected tilting state of the occupant riding section. When the tilting angle exceeds a predetermined threshold during mounting/dismounting operations, the control gain is increased to enhance stability and prevent unintended vehicle movement, while returning to normal values when the tilting state is stable
2Reliability
If the control gain is increased to prevent vehicle movement during tilting, then vehicle stability improves, but the responsiveness of the actuator device decreases
Solution Approach 1:
The control gain is not fixed but dynamically adjusted based on the detected tilting state. The control device switches between a first control gain (for stable states) and a second control gain (for unstable/tilted states), optimizing both stability and responsiveness according to real-time operating conditions
Solution Approach 2:
The control parameter (control gain) is changed based on the tilting state detection. When the occupant riding section tilts beyond a threshold angle, the control gain parameter is increased to prevent unintended movement, and reverted when the tilting state stabilizes, thus adapting system characteristics to operational needs
Data Source
AI summary
An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed.