Mobile Vehicle Roll Control via Dynamic Torque Adjustment
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Solution Overview
Problem
Existing mobile vehicles face challenges in controlling the angle of inclination of the vehicle body, particularly when stopped or traveling at low speeds, as they require intentional steering or support to prevent further inclination, and existing solutions restrict the operator's ability to change the inclination by shifting body weight.
Innovation Solution
A mobile vehicle equipped with a roll driving mechanism and a control device that adjusts the roll driving moment based on the vehicle body roll angle, allowing for sensitive control of inclination by shifting body weight, with specific function characteristics that ensure the vehicle body remains within a desired angle range, even when deviating from it.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a torque application mechanism applies torque to the vehicle body to maintain constant inclination, then the vehicle body inclination is stabilized, but the operator's ability to change inclination by shifting body weight is restricted
Solution Approach 1:
The control system dynamically adjusts the torque application based on vehicle speed. At low speeds (0-5 km/h), the torque application mechanism actively stabilizes the vehicle body inclination. At higher speeds (above 5 km/h), the control system reduces or stops torque application, allowing the operator to freely change inclination by shifting body weight. This dynamic switching between stabilization and freedom modes resolves the contradiction between stability and operational flexibility.
2Stability of the object's composition
If the front wheel is steered to apply torque to the vehicle body, then the vehicle body inclination can be controlled, but the operator must intentionally steer the wheel or support the vehicle body
Solution Approach 1:
The control system automatically detects the vehicle body inclination angle using an inclination sensor and autonomously controls the torque application mechanism to maintain the desired inclination. This eliminates the need for the operator to manually steer the front wheel or physically support the vehicle body, as the system self-regulates the inclination based on sensor feedback.
3Stability of the object's composition
If torque is applied to cancel vehicle body inclination, then the vehicle body remains upright, but gravitational force causes further inclination when the roll driving moment is zero
Solution Approach 1:
The control system continuously monitors the vehicle body inclination angle through an inclination sensor and uses this feedback to adjust the torque application in real-time. When the vehicle body begins to incline due to gravitational force, the sensor detects the angle change and the control system automatically applies corrective torque to counteract the inclination, maintaining the vehicle body in an upright position.
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 the operator to readily change the vehicle body's inclination and maintain it within a desired range, preventing further deviation and improving maneuverability during travel.
Implementation Method 1
a roll driving mechanism having an actuator and causing a roll driving moment as a road surface reaction force moment in the roll direction to act on the vehicle body in accordance with a driving force output by the actuator
Implementation Method 2
the inclination of the vehicle body further increases by a gravitational force moment which is a moment in the roll direction acting on the vehicle body because of gravitational force
Data Source
AI summary
A mobile vehicle 1 has two wheels 5, 5 on the rear side of a vehicle body 3, and is capable of causing a roll driving moment to act on the vehicle body 3 by an actuator 33 in a roll driving mechanism 23. A control device 70 controls the actuator 33 such that the function characteristics of the roll driving moment implemented by the control of the actuator 33 with respect to a vehicle body roll angle (inclination angle in the roll direction of the vehicle body 3) become as shown in FIG. 6A or 6B.