Mobile Body Actuator Control for Center-of-Gravity Stability
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Solution Overview
Problem
Existing mobile bodies, such as two-wheeled and three-wheeled vehicles, lack effective assistance in quickly adjusting the leaning of the vehicle body in response to the operator's weight shift during turning, leading to inefficient weight distribution and stability issues.
Innovation Solution
A mobile body equipped with an actuator and a control device that determines a center-of-gravity displacement index value to adjust the vehicle's leaning by controlling the actuator, ensuring the center of gravity remains closer to the vehicle's symmetry plane, thereby improving stability and weight distribution during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle body is allowed to lean freely in the roll direction during turning, then the operator can shift weight naturally, but the vehicle body cannot quickly adjust to maintain stability and center of gravity control
Solution Approach 1:
The control device continuously monitors the actual lean angle of the vehicle body and compares it with the desired lean angle calculated based on operating conditions (speed, steering angle, acceleration). The actuator is controlled to reduce the difference between actual and desired lean angles, creating a closed-loop feedback system that maintains stability while allowing operator weight shifting.
Solution Approach 2:
The patent replaces purely mechanical lean control (operator weight shifting alone) with an electromechanical system. An actuator (electric motor or hydraulic cylinder) is introduced to actively control the lean angle, substituting mechanical operator effort with controlled mechanical assistance that responds to sensor feedback and control algorithms.
2Speed
If an actuator is added to control the vehicle body leaning, then the response to operator weight shift is improved, but the device complexity increases
Solution Approach 1:
The actuator serves multiple functions: it controls the lean angle during turning, assists operator weight shifting, and can counteract unwanted lean. The control device integrates multiple control modes (lean angle control, weight shift assistance, stability maintenance) into a single system that adapts to different operating conditions, reducing the need for separate dedicated mechanisms for each function.
3Stability of the object's composition
If the center of gravity displacement is reduced during turns, then stability is improved, but the operator's natural weight distribution is restricted
Solution Approach 1:
The system dynamically adjusts the lean angle based on real-time operating conditions rather than maintaining a fixed position. The desired lean angle is calculated considering vehicle speed, steering angle, and acceleration, allowing the center of gravity to adapt its position according to the turning conditions while maintaining stability through active control.
Data Source
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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 from a prescribed reference position with respect to a 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 reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.