Mobile Body Actuator Control for Rapid Lean-In
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Solution Overview
Problem
Existing two-wheeled vehicles lack a mechanism to quickly achieve lean-in or lean-out states, which are essential for maintaining traction and stability during turns, especially on slippery surfaces or at high speeds, as operators struggle to rapidly displace their center of gravity to optimize vehicle posture.
Innovation Solution
A mobile body with a control device that includes an actuator and sensors to determine and adjust the center-of-gravity displacement index, allowing the vehicle to automatically increase the degree of displacement based on the operator's weight shift, thereby facilitating quick transitions into lean-in or lean-out states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the operator manually shifts weight to achieve lean-in or lean-out state during turning, then the vehicle posture can be adjusted, but the response speed is slow and cannot quickly optimize the center of gravity position
Solution Approach 1:
The vehicle body performs self-adjustment of its posture by automatically controlling the actuator to generate roll direction moments based on detected turning state, eliminating the need for manual operator intervention to achieve lean-in or lean-out states during turning
Solution Approach 2:
The manual mechanical weight-shifting action of the operator is replaced by an automated control system that uses sensors to detect turning state and actuators to generate appropriate moments, converting a manual mechanical operation into an automated electromechanical control process
2Stability of the object's composition
If the vehicle body is tilted to reduce center of gravity displacement during turning, then stability is improved, but the operator loses intuitive control over vehicle posture
Solution Approach 1:
The control device continuously detects the turning state of the vehicle and automatically adjusts the vehicle body posture by controlling the actuator to generate appropriate moments, creating a closed-loop feedback system that maintains optimal stability during turning operations
3Speed
If the actuator generates moment to increase center of gravity displacement degree, then lean-in or lean-out state is achieved quickly, but the control system complexity increases
Solution Approach 1:
The vehicle body is designed with movable characteristics through the actuator that can dynamically adjust the roll direction moment based on turning state, enabling quick transitions to lean-in or lean-out states while maintaining adaptability to different operating conditions
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
Enables rapid and controlled changes in vehicle posture in response to the operator's weight shifts, enhancing traction and stability during turns by optimizing the center of gravity displacement, thus improving handling and safety on various road conditions.
Implementation Method 1
an actuator that causes a moment in a roll direction to act on the vehicle body (2) a control device (60) that controls the actuator (15)
Data Source
Figure 1
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Figure 3
AI summary
A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.