Omnidirectional Vehicle Control Device Straight-Line Stability
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Solution Overview
Problem
Omnidirectional vehicles face challenges in maintaining straight-line stability, especially when traveling with occupants, due to disturbances from uneven floors and the need to gradually attenuate speed, which affects their directional consistency.
Innovation Solution
A control device that determines a desired velocity vector to gradually attenuate the vehicle's speed while adjusting its direction to maintain stability, using a combination of actuators and sensors to control the traveling motion unit, ensuring the vehicle's orientation aligns closer to the desired direction during speed reduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the omnidirectional vehicle travels in all directions with the ability to change direction freely, then the vehicle's maneuverability and adaptability are improved, but the straight-line stability deteriorates due to influences from floor unevenness and disturbances
Solution Approach 1:
The control device uses feedback control to detect the vehicle's actual velocity vector through sensors (including tilt angle sensors and velocity sensors) and compares it with the desired velocity vector. The control device then adjusts the actuator output based on the deviation to maintain the vehicle traveling in the desired direction, thereby improving straight-line stability while preserving maneuverability.
Solution Approach 2:
The control device performs preliminary velocity attenuation processing before the vehicle deviates significantly from the desired direction. By proactively reducing speed and adjusting the velocity vector orientation toward the first direction (traveling direction) before disturbances cause large deviations, the system maintains stability while allowing free direction changes.
2Ease of operation
If the vehicle's traveling speed is gradually attenuated when acceleration requests are cleared, then the vehicle's operational smoothness and safety are improved, but the straight-line stability deteriorates due to direction variations caused by floor unevenness
Solution Approach 1:
When an acceleration request is cleared, the control device initiates velocity attenuation processing immediately as a preliminary action. It gradually reduces the magnitude of the velocity vector while simultaneously adjusting the orientation toward the first direction (traveling direction), preventing direction variations caused by floor unevenness before they can significantly affect stability.
Solution Approach 2:
The control device dynamically adjusts both the magnitude and orientation of the velocity vector during attenuation. It continuously modifies the velocity command to the actuator based on real-time vehicle state feedback, enabling smooth speed reduction while maintaining straight-line stability through adaptive control parameters.
3Adaptability or versatility
If the vehicle is provided with actuators and control systems to enable omnidirectional movement and velocity control, then the vehicle's functionality and adaptability are improved, but the device complexity increases
Solution Approach 1:
The control device integrates multiple functions into a single unified control system. It simultaneously handles velocity attenuation, direction adjustment, stability maintenance, and actuator coordination through one control device that processes sensor inputs and generates comprehensive control commands, reducing the need for separate dedicated control systems for each function.
Solution Approach 2:
The control device merges velocity magnitude control and velocity direction control into a single integrated control loop. By combining the determination of desired velocity vector (including both magnitude attenuation and direction orientation) and actuator control commands in one device, the system achieves omnidirectional movement capability while minimizing the number of separate control components.
Data Source
AI summary
An omnidirectional vehicle capable of enhancing straight-line stability is provided.Within a period from the instant the execution of velocity component attenuation processing for reducing continuously or stepwise the magnitude of a desired velocity vector ↑Vb_aim of a predetermined representative point of a vehicle 1 having a traveling motion unit 5 capable of moving in all directions, including a first direction and a second direction, on a floor surface is started to the instant the magnitude of ↑Vb_aim attenuates to zero, the orientation of ↑Vb_aim is brought closer to the first direction. The first direction is defined as the fore-and-aft direction of an occupant aboard the vehicle 1, while the second direction is defined as the lateral direction of the occupant.