Leaning Vehicle Control Unit Mode Switching
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Solution Overview
Problem
The cooperative control between the steering actuator and the leaning actuator in leaning vehicles leads to increased operation frequency, resulting in heat generation, which necessitates countermeasures that enlarge the vehicle body size.
Innovation Solution
The leaning vehicle is configured with a control unit that selects between modes where both actuators operate cooperatively, where the leaning actuator is at rest, or where only the steering actuator operates, to mitigate specifications and reduce heat generation, allowing for a more compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If cooperative control between steering actuator and leaning actuator is implemented, then controlling precision of leaning angle is improved, but operation frequency increases and heat is generated
Solution Approach 1:
The control method dynamically switches between first mode (cooperative control with both actuators) and second mode (steering actuator only) based on vehicle speed and operating conditions. This dynamic adaptation allows the system to achieve precise leaning angle control when needed while reducing heat generation during normal operation, thus resolving the contradiction between controlling precision and heat generation.
2Reliability
If high specifications are imparted to actuators to counter heat, then reliability is improved, but device complexity increases
Solution Approach 1:
The system uses periodic mode switching between cooperative control and steering-actuator-only control based on vehicle speed thresholds. This periodic alternation allows the actuators to rest and cool down during second mode operation, maintaining reliability without requiring high-specification components that would increase device complexity.
3Reliability
If actuators configured to back up are prepared separately, then reliability is improved, but space occupied increases and vehicle body enlarges
Solution Approach 1:
The steering actuator is designed to perform multiple functions: it can operate alone in second mode for basic steering control, and it can cooperate with the leaning actuator in first mode for precise leaning angle control. This multi-functionality eliminates the need for separate backup actuators, maintaining reliability while avoiding additional space occupation and vehicle body enlargement.
4Measurement precision
If cooperative control is implemented, then controlling precision is improved, but vehicle body size enlarges due to heat countermeasures
Solution Approach 1:
The system dynamically adapts its control mode based on vehicle speed and operational requirements. During high-speed operation where precise leaning angle control is critical, first mode (cooperative control) is activated. During low-speed operation, second mode (steering actuator only) suffices. This dynamic approach achieves necessary controlling precision only when required, avoiding the need for continuous high-performance operation that would necessitate larger heat-dissipating components and vehicle body enlargement.
Data Source
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AI summary
A left suspension unit (7) supports a left wheel (31). A right suspension unit (8) supports a right wheel (32). A steering actuator (91) imparts a force causing the left suspension unit (7) and the right suspension unit (8) to turn about a left steering axis and a right steering axis respectively to a steering force transmission mechanism (63). A leaning actuator (92) imparts a force causing a body frame (21) leftward or rightward to a link mechanism (5). A control unit (93) is capable of selecting a first mode wherein both of the steering actuator (91) and the steering actuator (92) are employed, and a second mode wherein the steering actuator (91) is employed without employing the leaning actuator (92), in order to control a leaning angle of the body frame (21) in cooperation with a steering mechanism.