Rocking Control Device for Two Front Wheels Vehicle
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Solution Overview
Problem
In two front wheels rocking vehicles, abrupt termination of self-standing assistance can lead to variations in roll posture during rocking control, particularly when transitioning from self-standing to a rollable state.
Innovation Solution
A rocking control device that maintains high rigidity self-standing assistance until a predetermined vehicle speed is reached, employs a self-standing auxiliary spring controller to suppress rocking, and uses offset cancellation control to gradually release rocking restrictions as vehicle speed increases, ensuring a stable rollable state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If self-standing assistance is terminated abruptly during high rigidity self-standing control, then the vehicle can transition to a rollable state, but variation in roll posture occurs
Solution Approach 1:
The control device dynamically adjusts the self-standing assistance force based on vehicle speed. At low speeds, high rigidity self-standing control is applied to maintain stability, while at higher speeds, the assistance is gradually reduced to allow natural rolling. This dynamic adjustment resolves the contradiction by adapting the control rigidity to the operating conditions.
Solution Approach 2:
The system changes the control parameter (self-standing assistance force) based on vehicle speed threshold. When speed exceeds the threshold, the control device transitions from high rigidity control to a state that allows rolling, thereby resolving the contradiction between maintaining stability and enabling transition to rollable state.
2Reliability
If high rigidity self-standing control is maintained, then self-standing properties are enhanced, but the vehicle cannot transition to a natural rollable state
Solution Approach 1:
The control system dynamically switches between high rigidity self-standing control and rolling-permissive control based on vehicle speed. This dynamic behavior allows the system to maintain reliability at low speeds while adapting to enable natural rolling at higher speeds, resolving the contradiction between these two requirements.
Solution Approach 2:
The control parameter (level of self-standing assistance) is changed based on vehicle speed threshold. Below the threshold, high rigidity control maintains self-standing properties; above the threshold, the parameter is adjusted to allow rolling, thus resolving the contradiction between maintaining self-standing reliability and enabling rollable state adaptability.
3Force
If rocking restricting force is applied strongly, then self-standing control is effective, but variation in roll posture occurs when control is released
Solution Approach 1:
The rocking restricting force is dynamically adjusted based on vehicle speed. At low speeds, strong restricting force maintains effective self-standing control. As speed increases beyond the threshold, the force is gradually reduced to allow natural rolling, preventing posture variation during release while maintaining control effectiveness when needed.
Solution Approach 2:
The control parameter (rocking restricting force magnitude) is changed based on vehicle speed threshold. Strong force is applied below the threshold for effective self-standing control, and reduced above the threshold to enable smooth transition to rolling without posture variation, resolving the contradiction between control effectiveness and stable release.
Data Source
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AI summary
A rocking control device for a two front wheels (2L, 2R) rocking vehicle includes a high rigidity self-standing controller that executes a high rigidity self-standing control that locks the rocking of the two front wheels rocking vehicle and that assists a self-standing of the two front wheels rocking vehicle, a switch that switches the high rigidity self-standing control to ON or OFF state, and an offset cancellation controller that executes an offset cancellation control that maintains the self-standing state of the two front wheels rocking vehicle until a predetermined traveling state when the high rigidity self-standing control is switched off.