Torque Control for Leaning Vehicle Wheel Slip
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Solution Overview
Problem
Existing leaning posture control systems for left-right-inclined-wheel-equipped leaning vehicles rely on lean actuators, which are insufficient in managing longitudinal forces during turns, leading to wheel slip when cornering forces exceed grip limits.
Innovation Solution
A system that controls the torque of at least one of the right and left inclined wheels based on side-slip physical quantities to suppress changes in the lean posture of the vehicle, using geometrical arrangements to manage longitudinal forces and cornering forces independently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a lean actuator is used to control the leaning posture, then the vehicle can maintain stability during turns, but the system becomes more complex and less effective at managing longitudinal forces
Solution Approach 1:
The patent replaces the mechanical lean actuator system with a torque control system that acts on the wheels through the drivetrain. Instead of directly mechanically tilting the vehicle body, the system controls the distribution of torque to left and right wheels to achieve leaning posture control, substituting a complex mechanical actuation system with a control system that utilizes existing wheel torque mechanisms.
Solution Approach 2:
The system utilizes the vehicle's own drivetrain and wheel torque capabilities to achieve leaning posture control. By controlling the torque distribution to individual wheels, the vehicle uses its existing propulsion system to generate the necessary forces for posture control, rather than relying on separate actuator systems.
2Reliability
If longitudinal forces of wheels are not controlled during turns, then the vehicle can maintain simple control logic, but wheel slip occurs when cornering forces exceed grip limits
Solution Approach 1:
The patent implements a feedback control mechanism that continuously monitors vehicle state parameters (such as lateral acceleration, yaw rate, and wheel speeds) and adjusts the torque distribution to wheels based on this feedback. This closed-loop control ensures that longitudinal forces are appropriately managed during turns to prevent wheel slip, with the control logic adapting to real-time driving conditions.
Solution Approach 2:
The system dynamically adjusts torque distribution to wheels based on varying driving conditions such as turn radius, speed, and road grip levels. Rather than using fixed control parameters, the system modifies torque allocation in real-time to optimize cornering performance and prevent wheel slip under different operational scenarios.
Data Source
AI summary
A leaning posture control device controls a leaning posture of a left-right-inclined-wheel-equipped leaning vehicle. The leaning posture control device controls a torque of at least one of a left inclined wheel or a right inclined wheel arranged in a left-right direction of the vehicle so as to suppress a change in a lean of the lean body frame in a left direction or right direction of the vehicle while the lean body frame is leaned, based on a physical quantity concerning side-slip, in the left direction of the vehicle or in the right direction of the vehicle, of the left inclined wheel, the right inclined wheel, and another inclined wheel disposed ahead of or behind the left inclined wheel and the right inclined wheel.