Leaning Vehicle Handlebar Actuator Torque Control
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Solution Overview
Problem
Existing leaning vehicle technologies control leaning posture primarily through steering ratio, which limits flexibility and adaptability in handling and maneuverability.
Innovation Solution
A handlebar device system that includes a bar-handle-rotation-moment change amount detection and an actuator control unit to generate actuator torque based on grip manipulation operations, allowing for independent control of leaning posture by altering the rotation moment of the handlebar device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If steering ratio-based control is used, then the leaning posture control is simplified, but the handling flexibility and adaptability are limited
Solution Approach 1:
The patent changes the control parameter from steering ratio to bar-handle rotation moment change amount. This allows the system to control leaning posture through a different physical parameter that provides greater adaptability and flexibility in handling, while the control device processes this new parameter to achieve the desired leaning control without excessive complexity
Solution Approach 2:
The patent introduces dynamic control by using the change amount of bar-handle rotation moment rather than a static steering ratio. This enables the control system to adapt to varying riding conditions and rider inputs in real-time, improving handling flexibility while maintaining manageable system complexity through focused control logic
2Ease of operation
If traditional steering ratio control is used, then the control mechanism is well-established, but the maneuverability and nuanced vehicle responses are insufficient
Solution Approach 1:
The patent switches from steering ratio parameter to bar-handle rotation moment change amount parameter. This change enables more precise detection of rider intent and provides nuanced control over vehicle maneuverability, reducing information loss about the rider's desired vehicle response while maintaining ease of operation through natural handlebar manipulation
Solution Approach 2:
The patent implements feedback control by continuously monitoring the bar-handle rotation moment change amount and using this information to control the leaning posture. This feedback mechanism preserves detailed information about rider input and translates it into precise vehicle responses, improving both maneuverability and control precision without complicating the operation
Data Source
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AI summary
Provided is a leaning vehicle having a control characteristic where a leaning posture is controlled by a bar handle in a manner which differs from a prior art technique. An actuator control unit causes an actuator to generate an actuator torque in a counterclockwise direction based on a bar-handle-rotation-moment change amount in the case where a bar-handle-rotation-moment change amount in the counterclockwise direction is generated by a rider performing one operation of a right-grip-pushing-force increasing operation, a left-grip-pulling-force increasing operation, a right-grip-pulling-force reducing operation, and a left-grip-pushing-force reducing operation. The actuator control unit causes the actuator to generate an actuator torque in a clockwise direction based on a bar-handle-rotation-moment change amount in the case where a bar-handle-rotation-moment change amount in the clockwise direction is generated by a rider performing one operation of a left-grip-pushing-force increasing operation, a right-grip-pulling-force increasing operation, a left-grip-pulling-force reducing operation, and a right-grip-pushing-force reducing operation.