Inverted Pendulum Vehicle Control via Yaw Rate Feedback
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Solution Overview
Problem
Inverted pendulum type vehicles face difficulties in precisely setting and maintaining desired tilt angles during operation, especially during circling movements, requiring high-level mastery and leading to complex maneuvering operations.
Innovation Solution
A control device with a yaw rate measuring element, a desired tilt angle determining element, and a traveling motion unit controlling element that automatically adjusts the tilt angle of the payload supporting part to match the actual yaw rate, minimizing the need for occupant posture adjustments and simplifying circling movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the desired tilt angle is set manually by joystick operation, then the vehicle can be controlled to move in various directions, but the operation becomes complex and difficult for ordinary occupants to master
Solution Approach 1:
The vehicle automatically determines the desired tilt angle based on its own motion state (yaw rate) without requiring manual input from the occupant. The desired tilt angle determining element uses the yaw rate measuring element to automatically calculate and set the appropriate tilt angle, making the system self-regulating and eliminating the need for complex manual maneuvering operations.
Solution Approach 2:
The system continuously measures the actual yaw rate of the vehicle and uses this feedback to automatically adjust the desired tilt angle. This closed-loop control ensures that the tilt angle is always appropriate for the current motion state, simplifying operation while maintaining precise control.
2Ease of operation
If the desired tilt angle is automatically determined based on yaw rate, then circling movements become easy and smooth, but additional control elements and sensing elements are required
Solution Approach 1:
The yaw rate measuring element serves multiple functions: it detects the vehicle's rotational motion and provides the basis for automatically determining the desired tilt angle. This multi-functional approach allows the same sensing element to support both motion detection and control decision-making, minimizing additional hardware complexity.
Solution Approach 2:
The desired tilt angle determining element combines the yaw rate measurement with the control logic in a single integrated function. Rather than separating sensing, calculation, and control into distinct modules, the system merges these functions to achieve automatic tilt angle determination with minimal additional complexity.
Data Source
AI summary
A control device of an inverted pendulum type vehicle capable of easily performing a circling movement of the vehicle, without requiring complex maneuvering operation. A control unit 50 of an inverted pendulum type vehicle 1 determines a desired tilt angle of a payload supporting part 3 according to a yaw rate measured value by a yaw rate sensor 53 equipped to the vehicle 1, and controls a traveling motion of a traveling motion unit 5 so as to bring an actual tilt angle close to the desired tilt angle.