Leaning Vehicle Control System with Speed-Dependent Actuator
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Solution Overview
Problem
Three-wheeled leaning vehicles face challenges such as increased resistance to leaning, undesired leaning behaviors, and difficulty in remaining upright at low speeds, making them less enjoyable to drive compared to two-wheeled motorcycles.
Innovation Solution
A countersteered three-wheeled vehicle design featuring a pivotable frame with an actuator that selectively pivots the frame relative to a pivotable frame member, allowing the vehicle to steer and maintain an upright position at low speeds by exerting torque opposite the steering torque when the vehicle is above a threshold speed, and urging the frame toward the upright position when the speed is below a second threshold speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a three-wheeled vehicle is designed to allow countersteering like a motorcycle, then the driving experience and ease of operation are improved, but the vehicle exhibits undesired leaning behaviors at low speeds and requires manual locking mechanisms that increase device complexity
Solution Approach 1:
The actuator automatically controls the frame's leaning behavior based on vehicle speed sensors, eliminating the need for manual locking mechanisms. The system self-adjusts by urging the frame upright at low speeds and allowing countersteering at higher speeds, making the vehicle serve itself without driver intervention.
Solution Approach 2:
The control system uses feedback from vehicle speed sensors to automatically adjust the actuator's torque application. When speed exceeds a threshold, the system permits countersteering; when speed drops below the threshold, the system automatically urges the frame upright, creating a closed-loop control system that resolves the contradiction.
2Ease of operation
If a three-wheeled vehicle allows free leaning like a motorcycle, then the ease of leaning is improved, but the resistance to leaning increases due to the three wheels and frame pivoting requirements
Solution Approach 1:
The actuator serves as an intermediary between the driver's steering input and the frame's leaning motion. It provides assisted leaning by applying torque to the pivotable frame member, reducing the force the driver must exert to initiate and maintain leaning during countersteering maneuvers.
Solution Approach 2:
The system dynamically adjusts the leaning assistance based on vehicle speed. At higher speeds where countersteering is desired, the actuator provides leaning assistance to overcome the increased resistance from three wheels. At lower speeds, the actuator urges the frame upright, dynamically adapting to operating conditions.
3Stability of the object's composition
If a three-wheeled vehicle uses a locking mechanism to prevent tipping at rest, then the stability at low speeds is improved, but the ease of operation deteriorates due to manual activation requirements
Solution Approach 1:
The actuator automatically maintains vehicle stability at low speeds by urging the frame toward the upright position when speed falls below the threshold, eliminating the need for manual locking mechanism activation. The system monitors speed and self-adjusts to maintain stability without driver intervention.
Solution Approach 2:
The control system continuously monitors vehicle speed and uses this feedback to automatically adjust frame stability. When speed drops below the threshold, the system automatically applies torque to upright the frame, creating a seamless transition between stable and countersteering modes without manual intervention.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design enhances the driving experience by reducing resistance to leaning and maintaining the vehicle upright at low speeds, allowing for easier handling and reduced effort in steering, similar to a motorcycle, while providing assisted leaning at higher speeds.
Implementation Method 1
A torque exerted on the steering assembly in a first direction causes the frame to pivot relative to the pivotable frame member in a second direction opposite the first direction
Implementation Method 2
The actuator is operative to selectively pivot the frame with respect to the pivotable frame member about the pivot axis. A torque exerted on the steering assembly in a first direction causes the frame to pivot relative to the pivotable frame member in a second direction opposite the first direction
Implementation Method 3
A shock absorber has an upper end connected to the pivotable frame member and a lower end connected to the suspension arm
Data Source
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AI summary
A leaning vehicle has a frame that pivots relative to a pivotable frame member about a pivot axis. A torque exerted on a steering assembly in a first direction causes the frame to pivot relative to the pivotable frame member in a second, opposite direction at least when the speed of the vehicle is above a first threshold speed, to steer the vehicle in the second direction. An actuator urges the frame toward an upright position when the frame is in a leaning position and a speed of the vehicle is below a second threshold speed. A method is also described, in which a torque is exerted on the frame in the direction opposite the steering torque when the speed above the first threshold speed. The torque exerted by the actuator is opposite the leaning angle when the speed of travel is below the second threshold speed.