Leaning Vehicle IMU Layout for Precise Lean Angle Control
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Solution Overview
Problem
Leaning vehicles face challenges in controlling the lean angle of the vehicle body frame while preventing the front portion from becoming larger and more complicated due to the complex configuration required for sensors and actuators.
Innovation Solution
The vehicle incorporates a link mechanism with an actuator and inertial measurement unit (IMU) positioned rearward relative to the front end, allowing for control of the lean angle without the need for sensors near the link mechanism, thus maintaining a simpler front configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors and actuators are positioned near the link mechanism for lean angle control, then control precision is improved, but the front portion of the vehicle becomes larger and more complicated
Solution Approach 1:
The patent uses the vehicle body frame as an intermediary carrier for the IMU, positioning it in the rear portion rather than directly at the link mechanism. This mediator approach allows lean angle detection without requiring sensors in the front portion, thus maintaining detection precision while simplifying the front configuration.
Solution Approach 2:
The patent changes the spatial dimension of sensor placement from the front portion (near link mechanism) to the rear portion (vehicle body frame). This dimensional relocation enables the IMU to detect vehicle attitude changes effectively without complicating the front portion structure.
2Stability of the object's composition
If sensors are positioned near the power unit, then structural integration is improved, but heat and vibrations affect detection precision
Solution Approach 1:
The patent extracts the IMU from the vicinity of the power unit and relocates it to the vehicle body frame in the rear portion. This extraction removes the IMU from the harmful thermal and vibrational environment while maintaining its function for detecting vehicle attitude changes.
Solution Approach 2:
The vehicle body frame serves as an intermediary structure that carries the IMU away from the power unit's harmful environment. This mediator approach allows the IMU to remain integrated in the vehicle structure while being protected from heat and vibrations that would compromise detection precision.
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
This arrangement enables desirable control of the vehicle body frame's lean angle while preventing the front portion from becoming overly complex, reducing the impact of heat and vibrations from the power unit and maintaining detection precision.
Implementation Method 1
an inertial measurement unit supported on the vehicle body frame and arranged downward relative to an upper end of the upper arm, upward relative to a lower end of the lower arm, rightward relative to a left end of the left side member, leftward relative to a right end of the right side member, and rearward relative to a center of the rear wheel
Data Source
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AI summary
A leaning vehicle (1) includes a link mechanism (20) supported on a vehicle body frame (10), a left front wheel (3L) and a right front wheel (3R) supported on the link mechanism (20), and an inertial measurement unit (IMU) (6). The link mechanism (20) includes an upper arm (21) and a lower arm (22) rotatably supported on the head pipe (11), and a left side member (23) and a right side member (24) rotatably supported on the upper arm (21) and the lower arm (22). The IMU (6) is arranged downward relative to the upper end of the upper arm (21), upward relative to the lower end of the lower arm (22), rightward relative to the left end of the left side member (23), leftward relative to the right end of the right side member (24), and rearward relative to the front end (5f) of a seat (5). The leaning vehicle (1) includes an actuator (31) that rotates the upper arm (21) and the lower arm (22), and a control device (36) that receives a signal from the IMU (6) to control the actuator (31).