Inverted Pendulum Vehicle Control Device for Tilt Stability
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Solution Overview
Problem
Inverted pendulum type vehicles face challenges in maintaining appropriate driving force for controlling tilt angles and velocities due to variations in the weight of occupants or transported objects, leading to oscillations and reduced responsiveness.
Innovation Solution
A control device that includes a tilt angle measuring element, a velocity command value determining element, and an actuator controlling element to manage the driving force independently of the weight of the object, ensuring the tilt error is minimized by controlling the actuator to follow a desired velocity command value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the torque command value is determined based on tilt angle error and velocity error as in prior art, then the control structure remains simple, but the driving force becomes inappropriate when the weight of the occupant changes, causing oscillation and reduced responsiveness
Solution Approach 1:
The patent introduces a tilt angle measuring element that provides real-time feedback on the actual tilt angle of the loading part. This feedback is used by the velocity command value determining element to continuously adjust the velocity command value, ensuring the actuator receives appropriate driving force regardless of weight changes. The feedback loop maintains control stability without requiring complex structural modifications.
Solution Approach 2:
The velocity command value determining element automatically adjusts the velocity command value based on the tilt angle error, without requiring external intervention or complex control structures. The system self-regulates the driving force by using the tilt angle measurement to determine appropriate velocity commands, eliminating the need for weight sensors or complex adaptive control algorithms.
2Speed
If the velocity command value is determined using only tilt angle error as in prior art, then the control response is fast, but the control accuracy deteriorates when weight changes occur, leading to oscillation
Solution Approach 1:
The tilt angle measuring element continuously monitors the actual tilt angle and feeds this information back to the velocity command value determining element. This feedback mechanism enables the system to maintain precise tilt angle control by adjusting the velocity command value in response to any deviation from the desired tilt angle, regardless of weight changes. The continuous feedback ensures both responsiveness and precision.
3Measurement precision
If the actuator driving force is adjusted according to occupant weight as in ideal adaptive control, then the control precision is maintained, but the device complexity increases due to additional sensors and control algorithms
Solution Approach 1:
The system uses the existing tilt angle measurement to self-regulate the velocity command value without requiring additional weight sensors or complex adaptive control algorithms. The tilt angle error serves as a proxy that automatically compensates for weight changes, as the effect of weight on tilt angle is already captured in the measurement. This approach maintains control precision while avoiding additional system complexity.
Solution Approach 2:
The tilt angle measuring element serves multiple functions: it monitors the actual tilt angle for control purposes and simultaneously provides information that indirectly reflects weight changes. By using this single measurement for both tilt control and weight compensation, the system achieves adaptive control without adding dedicated weight sensors or complex multi-sensor integration systems.
Data Source
AI summary
Provided is a control device capable of imparting a driving force appropriate for controlling a tilt angle of a loading part to a traveling motion unit, despite the weight of an object to be transported mounted on the loading part capable of freely tilting of an inverted pendulum type vehicle. Velocity command values for defining a desired value of a traveling velocity of a traveling motion unit 5 so as to bring an tilt error between a measured value of the tilt angle of a loading part 3 of an inverted pendulum type vehicle 1 and a desired tilt angle of a predetermined value close to 0 is sequentially determined, and an actuator 7 is controlled so as to make the actual traveling velocity of the traveling motion unit 5 follow a desired value of the traveling velocity defined by the velocity command value.