Leaning Front-Wheel Vehicle Control for Stable Turning
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Solution Overview
Problem
Leaning vehicles with steerable front wheels face challenges in robustness during turning due to mechanical transmission of turn operations, which can lead to instability and reduced control over centripetal forces.
Innovation Solution
A leaning vehicle design featuring a turn operation input device that does not mechanically transmit turn operations to the steerable front wheels, utilizing a lean actuator and centripetal force generation actuator to control the vehicle's leaning condition and centripetal forces, ensuring enhanced robustness and stability during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a turn operation input device mechanically transmits turn operations to the steerable front wheel, then the wheel swivels in response to rider input, but the vehicle experiences reduced robustness and stability during turning
Solution Approach 1:
The patent replaces the mechanical transmission system with an electric control system. The turn operation input device receives rider input and sends electrical signals to the steerable wheel controller, which then controls the steering angle electronically rather than through mechanical linkage. This substitution eliminates the mechanical connection that causes instability while preserving the steering function.
Solution Approach 2:
The patent separates the turn operation input function from the wheel steering control function. The input device, controller, and execution mechanism are divided into independent components that communicate through electrical signals rather than mechanical connections. This segmentation allows each component to be optimized independently and reduces the transmission of harmful mechanical vibrations and forces.
2Ease of operation
If the steerable front wheel is mechanically connected to the turn operation input device, then direct control is achieved, but the vehicle body leaning control becomes less precise
Solution Approach 1:
The patent replaces direct mechanical coupling between the input device and wheel steering with an electronic control system. The controller processes electrical signals from the input device and independently manages both the steerable wheel angle and vehicle body leaning angle through separate actuators, enabling precise independent control of each function without mechanical interference.
Data Source
AI summary
A leaning vehicle including a vehicle body, a steerable front wheel set swivelable around an axis extending in an up-down direction, a rear wheel set, a turn operation input device that receives a turn operation and transmits the turn operation non-mechanically, a leaning device including a lean actuator that leans the vehicle body, the steerable front wheel set and the rear wheel set to a leftward or rightward direction, and a centripetal force generator including a centripetal force generation actuator, which outputs a controllable torque to thereby generate an additional centripetal force that acts on the steerable front wheel set and the rear wheel set during a turn of the leaning vehicle. The controller controls the torque while controlling the lean actuator in accordance with the received turn operation, to thereby control a leaning condition of the vehicle body during the turn and to control generation of the additional centripetal force.