Inverted Pendulum Vehicle Anti-Idling Control via Velocity Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Inverted pendulum type vehicles often experience unexpected high-speed idling of the travel operation unit when not in contact with the ground, leading to disappointing user experiences due to self-stabilization control mechanisms that fail to prevent tilting.
Innovation Solution
The vehicle incorporates a travel operation unit with a wheel, an actuator, a base body tiltable in the vertical direction, an outer circumferential velocity detecting unit, a ground contact point velocity detecting unit, and a control processing unit that determines idling through velocity differences and applies anti-idle processing to limit the wheel's rotational speed, using acceleration and angular velocity sensors to calculate ground contact point velocity and correct for sensor drift.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If self-stabilization control is implemented to prevent the rider mounting section from tilting, then the vehicle achieves automatic balance control, but the travel operation unit operates at high velocity in an idling manner when not in contact with the ground
Solution Approach 1:
The control processing unit continuously monitors the difference between outer circumferential velocity and ground contact point velocity, and adjusts actuator output based on this feedback to detect and prevent idling conditions while maintaining self-stabilization control
Solution Approach 2:
The system dynamically adjusts the operational characteristics of the travel operation unit based on ground contact status, transitioning between normal self-stabilization mode and anti-idle mode to prevent high-speed idling while maintaining balance control capability
2Ease of operation
If the travel operation unit idles while the rider is sitting on the rider mounting section, then the vehicle fails to travel as expected, but implementing speed limitation may affect the self-stabilization performance
Solution Approach 1:
The control processing unit uses feedback from velocity sensors to distinguish between legitimate travel commands and idling conditions, applying speed limitation only when idling is detected to maintain both travel responsiveness and self-stabilization performance
Solution Approach 2:
The speed limitation is applied locally and selectively only to idling conditions rather than all operational modes, allowing normal travel operation to maintain full performance while preventing problematic high-speed idling behavior
Data Source
AI summary
An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less.