Inverted Pendulum Vehicle Tilt Stability Control
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Solution Overview
Problem
Inverted pendulum type vehicles face instability in the tilt posture of the payload support part, leading to an uncomfortable experience for occupants due to deviations from the desired tilt posture during movement.
Innovation Solution
The vehicle is equipped with a tilt detector and a controller that restricts the representative point velocity, applying a braking force to maintain tilt stability by adjusting the travelling velocity and acceleration of the travelling motion unit, ensuring the base body's tilt stability is maintained even when the representative point velocity exceeds permissible ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the travelling velocity of the travelling motion unit is increased to improve productivity, then the representative point velocity increases, but the tilt stability of the base body degrades
Solution Approach 1:
The representative point velocity restrictor applies preliminary anti-action by predicting when the representative point velocity may exceed the permissible range and proactively restricting the travelling velocity before tilt instability occurs. This prevents the destabilizing effect rather than reacting after it happens, allowing high-speed travel while maintaining tilt stability through advance intervention.
Solution Approach 2:
The representative point velocity restrictor acts as an intermediary between the travelling motion unit and the base body. It mediates the relationship between travelling velocity and tilt stability by calculating the representative point velocity based on both the travelling velocity and tilt angle, then restricting the travelling velocity when necessary to prevent tilt instability, thus harmonizing the conflicting requirements.
2Stability of the object's composition
If the travelling velocity is restricted to maintain tilt stability, then the tilt posture remains stable, but the productivity decreases
Solution Approach 1:
The system dynamically adjusts the travelling velocity based on real-time conditions. The representative point velocity restrictor continuously monitors the travelling velocity and tilt angle, calculating the representative point velocity and comparing it against the permissible range. When the representative point velocity approaches the limit, the travelling velocity is restricted; otherwise, normal high-speed travel is permitted. This dynamic adjustment maintains tilt stability while maximizing productivity.
Solution Approach 2:
The system changes the parameter being controlled from simple travelling velocity to representative point velocity, which is a composite parameter that considers both travelling velocity and tilt angle. By restricting the representative point velocity rather than the travelling velocity alone, the system allows higher travelling velocities when the tilt angle is small, while preventing excessive representative point velocities when the tilt angle is large, thus optimizing both stability and productivity.
3Speed
If the representative point velocity exceeds the permissible range, then the travelling velocity can be high, but the occupant experiences uncomfortable movements
Solution Approach 1:
The representative point velocity restrictor implements feedback control by continuously monitoring the travelling velocity and tilt angle, calculating the representative point velocity, and comparing it against the permissible range. When the representative point velocity exceeds or is predicted to exceed the permissible range, the system restricts the travelling velocity to prevent uncomfortable occupant movements. This closed-loop feedback ensures occupant comfort while allowing high-speed travel within safe parameters.
Data Source
AI summary
An inverted pendulum type vehicle includes a travelling motion unit capable of moving on a floor surface, an actuator for driving the travelling motion unit, a base body mounted with the travelling motion unit and the actuator, a tilt detector configured to detect a tilt of the base body, and a controller configured to control the actuator. The controller controls an operation of an actuator so as to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point of the vehicle and is determined according to a travelling velocity of the travelling motion unit and a tilt of the base body.