Inverted Pendulum Vehicle Control for Steering Intention Alignment
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Solution Overview
Problem
Inverted pendulum type vehicles face challenges in maintaining user-intended motion conditions due to uncontrollable translational speed and unexpected vehicle movements, particularly when the user's steering intention is not accurately matched with the vehicle's motion.
Innovation Solution
The vehicle incorporates a control device that adjusts the translational speed based on the tilting condition of the occupant riding section, using a tilting state detection unit to control actuator devices, ensuring the vehicle moves in a designated direction with a speed determined by the tilting condition, thereby maintaining balance and consistency with user intention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If translational speed command is subjected to limiting processing, then vehicle speed can be controlled within a limit range, but the vehicle may still be translated in unexpected directions depending on feedback-control gain values
Solution Approach 1:
The control device uses feedback from the tilting state detection unit to continuously monitor and adjust the vehicle's translational speed. The detected tilting angle of the occupant riding section is fed back to the control device, which then adjusts the actuator device output to maintain the vehicle within the desired speed range and prevent unexpected translations, resolving the contradiction between speed limiting and motion control accuracy.
2Stability of the object's composition
If the vehicle translates to maintain occupant position in balance, then the occupant's position is maintained, but the vehicle may translate in the opposite direction of user intention
Solution Approach 1:
The control device applies different control strategies to different components of vehicle motion. It differentiates between translational motion in the tilting direction (which is controlled to maintain balance) and translational motion in the opposite direction (which is limited to prevent unexpected movement). This localized control approach allows the vehicle to maintain occupant stability while preventing unintended translations that would conflict with user steering intention.
Data Source
AI summary
An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.