Self-Balancing Vehicle Braking via Reference Angle Control
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Solution Overview
Problem
Existing self-balancing vehicles lack the ability for users to manually trigger emergency braking, posing safety risks when sudden stops are needed.
Innovation Solution
A control method that allows users to manually initiate braking by adjusting a fictitious reference angle of inclination, which is less than the predefined equilibrium angle, to induce braking through motor control, adaptable to vehicle speed and surface conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If mechanical braking is applied to self-balancing vehicles, then braking capability is improved, but equilibrium is lost causing user to fall
Solution Approach 1:
Instead of applying mechanical braking force directly to the wheels (conventional approach), the patent inverts the approach by using the self-balancing mechanism itself to create braking effect. The control system modifies the reference inclination angle, causing the motors to generate torque that opposes forward motion while maintaining the vehicle's balance through controlled inclination adjustments.
Solution Approach 2:
The patent replaces traditional mechanical braking systems with an electronic control-based braking mechanism. Instead of using mechanical brakes that apply friction to the wheels, the system uses motor control through modified inclination angle references to achieve deceleration, thereby eliminating the need for separate mechanical braking components.
2Speed
If user shifts body weight to control speed, then speed control is achieved, but response time is delayed
Solution Approach 1:
The system performs preliminary action by pre-configuring the reference inclination angle that corresponds to the desired braking intensity. When the user activates the braking control, the system immediately applies the pre-calculated angle modification, eliminating the delay that would otherwise occur while the user's body weight shift takes effect.
Solution Approach 2:
The patent introduces an intermediary control mechanism (the modified reference inclination angle) between the user's braking input and the motor response. This intermediary allows the system to translate a simple user input into precise motor torque adjustments, providing faster and more accurate response compared to direct body weight shifting.
3Speed
If mechanical brake system is added, then braking function is improved, but device complexity increases
Solution Approach 1:
The patent makes the existing motor and control system multi-functional by enabling it to perform both balance maintenance and braking functions. The same motors that keep the vehicle balanced are also used to generate braking torque through modification of the reference inclination angle, eliminating the need for separate braking mechanisms.
Solution Approach 2:
The system serves itself by using its own balance control mechanism to achieve braking. The motors and control electronics that already exist for maintaining equilibrium are repurposed to provide braking capability, so no additional dedicated braking components are required.
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
Enhances user safety by enabling intuitive and immediate braking without shifting body weight, similar to traditional vehicles, while maintaining balance and adapting to dynamic conditions.
Implementation Method 1
sensors adapted to detect the angle of inclination of a frame of the vehicle with respect to a horizontal axis
Implementation Method 2
at least one motor adapted to move the vehicle
Data Source
AI summary
The present invention relates to a control method for self-balancing vehicles, in which a braking procedure is provided, and to a respective self-balancing vehicle.