Inverted Pendulum Vehicle Steering Control via Segmented Actuators
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Solution Overview
Problem
Conventional inverted pendulum type vehicles require skillful steering techniques, making it difficult for occupants to navigate, especially in directions like the left-right direction without turning, and lack user-friendly control systems for smooth operation.
Innovation Solution
The vehicle is equipped with a second moving operation unit and actuator device, along with an operating device and notifying section, which allows for command output based on occupant input and tilting movements, enabling easier steering by comparing movements and preventing erroneous operations through predetermined command prioritization and timing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If only a first moving operation unit is provided for basic movement control, then the device complexity is low, but the ease of operation deteriorates due to requiring skillful steering techniques
Solution Approach 1:
The control system is segmented into two independent moving operation units: a first moving operation unit for forward-rearward movement control and a second moving operation unit for left-right movement control. This segmentation allows each unit to handle specific directional control, eliminating the need for skillful coordinate transformation steering while maintaining system clarity through dedicated control functions for each axis.
2Ease of operation
If a second moving operation unit is added to improve steering ease, then the ease of operation improves, but the device complexity increases
Solution Approach 1:
The second moving operation unit is designed with multi-functionality to reduce overall system complexity. It serves dual purposes: enabling direct left-right movement control and working in coordination with the first moving operation unit for diagonal movements. The control device integrates both units under a unified control framework that handles coordinate transformation centrally, allowing each unit to remain relatively simple while achieving complex operational capabilities through their combination.
3Adaptability or versatility
If both moving operation units operate independently, then the adaptability is high, but reliability deteriorates due to potential conflicting commands
Solution Approach 1:
The control device implements feedback mechanisms that continuously monitor the states and commands from both moving operation units. When conflicting commands are detected, the control device processes the coordinate information from both units, determines the priority or combination of movements, and resolves conflicts before executing commands. This feedback loop ensures that diagonal movements are properly coordinated and that conflicting simultaneous opposite-direction commands are handled systematically, maintaining reliability while preserving adaptability.
Data Source
AI summary
An inverted pendulum type vehicle includes a control device for controlling a plurality of electric motors, and a portable device, such as a portable telephone, for displaying a center-of-gravity display point indicating the position of a center of gravity and outputting a command for moving the vehicle. The control device controls a first actuator device and a second actuator device so as to move the vehicle according to the command output from the portable device and the tilting of an occupant boarding member. Such inverted pendulum type vehicle makes it possible to learn how to steer the inverted pendulum type vehicle.