Inverted Pendulum Vehicle Yaw Control via Differential Wheel Velocity
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Solution Overview
Problem
Conventional inverted pendulum type vehicles require skilled steering techniques for smooth turns and are difficult to maneuver without intentional steering operations, especially when external forces are applied, leading to unintended turns.
Innovation Solution
The vehicle incorporates a control device that manages a second moving operation unit with a different velocity from the first moving operation unit in the left-right direction during steering operations and external force applications, along with a turning angular velocity detecting unit to differentiate intended and unintended turns, and adjusts the target turning angular velocity based on detected values to enhance controllability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the first moving operation unit and the auxiliary moving operation unit are controlled to move in the same direction during normal operation, then the vehicle maintains stable movement, but the vehicle cannot turn when external force is applied without intentional steering operations
Solution Approach 1:
The control device detects external forces applied to the vehicle and uses this feedback information to automatically adjust the velocity difference between the first moving operation unit and the auxiliary moving operation unit, enabling turning without intentional steering operations while maintaining reliability through controlled response
Solution Approach 2:
The system dynamically adjusts the velocity relationship between the two moving operation units based on detected external forces, transitioning from a static same-direction movement mode to a dynamic differential velocity mode that enables turning while maintaining stability
2Ease of operation
If a second moving operation unit is added to enable smooth turning by creating velocity difference, then turning smoothness is improved, but the device complexity increases
Solution Approach 1:
The auxiliary moving operation unit serves multiple functions: it enables smooth turning through velocity differential, provides stability during normal operation when moving in the same direction as the first unit, and assists in maintaining vehicle balance, thereby justifying the added complexity through multi-functionality
Data Source
AI summary
An inverted pendulum type vehicle includes a control device which sets a target turning angular velocity ωz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle about a yaw axis is applied to the vehicle. The control device controls a first actuator device and a second actuator device such that a second moving operation unit has a different velocity from a first moving operation unit in a left-right direction. Such an inverted pendulum type vehicle makes it possible to turn the vehicle easily even in a state in which no steering operation is performed.