Inverted Pendulum Vehicle Idling Control via Frequency Segmentation
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Solution Overview
Problem
Conventional inverted pendulum type vehicles face issues with idling of the traveling motion unit due to slippage, leading to frequent detection of idling errors caused by acceleration sensor drift and integration errors, which prevent continuous normal travel motion.
Innovation Solution
An inverted pendulum type vehicle with a reference desired motion determiner, high-frequency idling state amount calculator, and desired motion correction unit that corrects the reference desired motion based on the high-frequency idling state amount to promptly address idling, reducing frequency components of velocity differences and maintaining normal travel motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional idling detection techniques using acceleration sensors are used, then idling can be detected, but steady errors from sensor drift and integration cause frequent false detection of idling
Solution Approach 1:
The patent segments the velocity difference signal into high-frequency components (actual idling) and low-frequency components (steady errors from sensor drift). By applying frequency-based separation, the system can detect true idling events while filtering out false detections caused by integration errors and sensor drift, thus resolving the contradiction between detection reliability and measurement precision.
Solution Approach 2:
The patent introduces a high-pass filter as an intermediary element between the velocity difference calculation and the idling detection logic. This filter acts as a mediator that blocks low-frequency steady errors from reaching the detection threshold while allowing high-frequency idling signals to pass through, thereby improving both detection accuracy and reducing false positives.
2Reliability
If the traveling motion unit is stopped to prevent idling, then normal travel motion can be maintained, but continuous travel is frequently interrupted
Solution Approach 1:
The patent segments the velocity difference signal to distinguish between transient velocity variations (normal operation) and sustained high-frequency deviations (actual idling). This segmentation allows the system to maintain travel continuity by only stopping when genuine idling is detected, rather than responding to every velocity fluctuation, thus resolving the contradiction between travel stability and continuous operation.
Solution Approach 2:
The patent implements a feedback mechanism where the high-pass filtered velocity difference signal continuously monitors for idling conditions. The feedback loop only triggers a stop command when sustained high-frequency deviations are detected, allowing normal travel variations to pass through without interruption. This selective feedback approach maintains both travel stability and continuous operation capability.
Data Source
AI summary
Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.