Inverted Pendulum Vehicle Control Device Dynamic Gain Adjustment
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Solution Overview
Problem
Inverted pendulum type vehicles face challenges in maintaining a stable tilt angle of the payload supporting part, leading to fluctuations in traveling velocity, making it difficult to control the vehicle's motion effectively.
Innovation Solution
A control device with a tilt angle measuring element, a representative point velocity measuring element, and a traveling motion unit controlling element that switches between two processing modes to adjust the sensitivity of the driving force based on the operational state, stabilizing the tilt angle and allowing flexible changes in traveling velocity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the sensitivity to variation in traveling velocity is increased to rapidly resolve tilt angle variation, then the stability of tilt angle is improved, but the smoothness of intentional velocity changes deteriorates
Solution Approach 1:
The control device dynamically adjusts the gain parameter based on the operation state (acceleration request status). When acceleration is requested, the gain is reduced to allow smooth velocity changes. When no acceleration is requested, the gain is increased to rapidly resolve tilt angle variation. This dynamic adjustment resolves the contradiction by making the system characteristics adaptable to different operational requirements.
Solution Approach 2:
The invention changes the control parameter (gain) based on the operation state. By switching the gain value according to whether acceleration is requested or not, the system achieves both rapid response for stability and smooth response for intentional velocity changes, resolving the contradiction between these two requirements.
2Stability of the object's composition
If the gain for velocity error correction is increased to suppress traveling velocity fluctuations, then the stability of traveling velocity is improved, but the responsiveness to intentional acceleration requests deteriorates
Solution Approach 1:
The system dynamically changes the gain parameter based on the acceleration request state. During acceleration requests, the gain is reduced to maintain responsiveness. During steady-state operation, the gain is increased to suppress velocity fluctuations. This dynamic parameter adjustment resolves the contradiction between stability and responsiveness.
Solution Approach 2:
By changing the gain parameter according to the operation state (acceleration request status), the system achieves high responsiveness when needed and high stability when appropriate, resolving the contradiction between these two performance requirements.
Data Source
AI summary
A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 includes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting part 3 and a traveling velocity of a representative point of the vehicle 1 closer to a desired value. In the second processing mode, the traveling motion unit controlling element 50 determines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.