Inverted Two-Wheel Vehicle Torque Saturation Control
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Solution Overview
Problem
Inverted two-wheel apparatuses face safety issues when the occupant excessively moves the center of gravity, leading to torque saturation and failure in maintaining the inverted posture, potentially resulting in vehicle turnover due to uncontrolled acceleration or deceleration.
Innovation Solution
Incorporating a control system with posture sensors, drive units, and a control device that detects torque saturation and failure states, allowing for dismounting of the occupant and gradual velocity control to prevent accidents, ensuring safe deceleration and stopping even when torque command values reach saturation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the torque command value is increased to maintain inverted posture during excessive center of gravity movement, then the vehicle stability is improved, but the electric motor reaches maximum output and cannot recover posture, leading to control failure
Solution Approach 1:
The control device detects torque saturation before complete control failure occurs and proactively transitions to a safe state by controlling the vehicle to stop, preventing the situation where the motor reaches maximum output and cannot recover posture
Solution Approach 2:
The control device continuously monitors the torque command value and detects when it reaches saturation, using this feedback information to determine when to transition to safe state control, enabling the system to adapt its control strategy based on real-time motor output conditions
2Productivity
If the vehicle allows high velocity operation, then productivity is improved, but the vehicle may be turned over while keeping high vehicle velocity, reducing safety
Solution Approach 1:
The control device detects torque saturation and potential instability conditions before they lead to vehicle turnover, and proactively controls the vehicle to stop, preventing the harmful effect of high-velocity turnover while allowing normal high-velocity operation under stable conditions
3Reliability
If the control system continuously monitors torque command values to detect saturation, then safety is improved, but the device complexity increases
Solution Approach 1:
The control device performs multiple functions using the same sensor system - it monitors torque command values for saturation detection, determines vehicle stability status, and controls vehicle stopping, eliminating the need for separate dedicated sensors for each function and reducing overall system complexity
Data Source
AI summary
An inverted two-wheel apparatus includes drive means that drives wheels; control means that generates a torque command value to control drive torque of the drive means; and posture detection means that detects posture information of a vehicle. The inverted two-wheel apparatus is able to travel while keeping an inverted state. Furthermore, the control means performs control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.