Inverted Pendulum Vehicle Velocity Command Limiting for Turn Stability
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Solution Overview
Problem
Inverted pendulum type vehicles require a certain level of skill to operate, making it difficult for beginners to move them as intended, as they rely on weight shifting and joystick operation for navigation.
Innovation Solution
The vehicle incorporates a first and second travel operation unit, actuators, a rider mounting section, and a control processing unit that receives instructions from a rider to control longitudinal, lateral, and turn operations, with velocity command units that adjust travel speeds based on the rider's input to facilitate easier operation by limiting speeds during turns and maintaining stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the inverted pendulum type vehicle uses weight shifting and joystick operation for navigation, then the vehicle can be controlled to move, but it requires a certain level of skill to operate, making it difficult for beginners
Solution Approach 1:
The patent introduces an operation unit that serves as an intermediary between the rider's intent and the vehicle's motion. Instead of directly controlling travel operation units through complex weight shifting, the rider operates a simplified operation unit that sends velocity commands to the travel operation units, reducing the skill requirement while maintaining control capability
Solution Approach 2:
The patent replaces the traditional mechanical control method (weight shifting on an inverted pendulum system) with an electronic control system. The operation unit electronically communicates velocity commands to the travel operation units via actuators, substituting the complex mechanical balance control with a more intuitive electronic control interface
2Productivity
If the vehicle allows high-speed travel in all directions, then the vehicle is more versatile and productive, but it may cause safety issues during turns when the rider intends low-speed movement
Solution Approach 1:
The patent implements a feedback mechanism where the control processing unit receives velocity commands from the operation unit, processes them considering the vehicle's current state (including turn operations), and adjusts the actual velocity commands sent to the travel operation units. This feedback loop prevents high-speed travel during turns by automatically limiting velocity based on the vehicle's operational context
Solution Approach 2:
The patent makes the velocity command dynamic based on the vehicle's operational state. The longitudinal travel velocity command is adjusted in real-time according to whether a turn operation is being performed, allowing high speed during straight travel but automatically reducing speed during turns to prevent safety hazards
Data Source
AI summary
An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases.