Inverted Pendulum Vehicle Dynamic Velocity Control
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Solution Overview
Problem
Inverted pendulum type vehicles face challenges in smooth turning due to excessive slip of the second travel operation unit and restricted travel velocity, particularly when attempting to change direction, especially at low speeds or when stopped, requiring high steering skills from the rider.
Innovation Solution
The vehicle incorporates a control unit that adjusts the travel velocities of the first and second travel operation units differently in the lateral direction, using a basic desired value and a limitation processing unit to restrict the difference between desired and actual travel velocities, thereby preventing undue slip and maintaining responsiveness and velocity range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the travel velocity of the second travel operation unit is increased to improve turning responsiveness, then the turning responsiveness is improved, but the second travel operation unit slips excessively
Solution Approach 1:
The control unit dynamically adjusts the travel velocity of the second travel operation unit based on the kinetic state of the vehicle (travel velocity, angular velocity, acceleration). The upper limit value is not fixed but varies according to these kinetic parameters, allowing the system to optimize between responsiveness and slip prevention in real-time
Solution Approach 2:
The system changes the parameter of travel velocity upper limit based on multiple kinetic state parameters (travel velocity, angular velocity, acceleration). By adjusting this limit parameter according to the current kinetic state, the system prevents excessive slip while maintaining turning responsiveness
2Reliability
If the angular velocity is uniformly restricted to prevent slip, then slip is prevented, but the turning responsiveness and velocity range are impaired
Solution Approach 1:
Instead of uniform restriction, the system dynamically determines the angular velocity upper limit based on the kinetic state. The restriction is adaptive - tighter when slip risk is high and more relaxed when conditions permit, thus maintaining responsiveness while preventing slip
Solution Approach 2:
The system changes the angular velocity parameter based on kinetic state parameters. The upper limit value is adjusted according to travel velocity, angular velocity, and acceleration, allowing the vehicle to maintain high responsiveness when safe and prevent slip when necessary
3Adaptability or versatility
If the difference between desired and actual travel velocity is large to maintain velocity range, then the velocity range is maintained, but excessive acceleration occurs causing slip
Solution Approach 1:
The control unit uses feedback from the kinetic state (travel velocity, angular velocity, acceleration) to continuously adjust the upper limit value. This feedback mechanism ensures that the velocity range remains adaptable while preventing excessive acceleration that would cause slip
Solution Approach 2:
The system dynamically adjusts the velocity difference based on kinetic state. The upper limit is not fixed but varies with acceleration and other kinetic parameters, allowing the system to maintain velocity range adaptability while preventing excessive acceleration through real-time adjustments
Data Source
AI summary
An inverted pendulum type vehicle has a first travel operation unit and a second travel operation unit. A controller of the inverted pendulum type vehicle controls an actuator on the basis of a restricted desired value. The restricted desired value is obtained by restricting a basic desired value of the lateral travel velocity of the second travel operation unit by a limiting processor, the basic desired value being for bringing the actual turn angular velocity of the vehicle close to a desired value. The limit width of the limiting processor is variably set according to the actual travel velocity of the second travel operation unit.