Self-Balancing Vehicle Dynamic Stability Control
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Solution Overview
Problem
Existing balancing vehicles with two laterally disposed wheels lack static stability, making them prone to instability during conditions like speed changes, sharp turns, and steep slopes, which can lead to the rider losing balance.
Innovation Solution
A vehicle design featuring a platform with two laterally disposed ground-contacting elements, a drive system, and a controller that dynamically controls balancing by shifting the center of gravity in response to the rider's input, using sensors to detect changes in the center of gravity and apply torque to the wheels for stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a vehicle uses only two laterally disposed wheels with dynamic stabilization, then the vehicle can achieve self-propelled motion and user-guidable control, but the vehicle lacks static stability and becomes unstable under conditions like speed changes, sharp turns, and steep slopes
Solution Approach 1:
The patent applies dynamic stabilization by continuously sensing the vehicle's orientation and actively adjusting wheel motor torque to maintain stability. The control system dynamically responds to changing conditions (acceleration, turns, slopes) by making real-time corrective actions, transforming a statically unstable vehicle into one that maintains stability through active dynamic control.
Solution Approach 2:
The control system acts as a counterbalancing mechanism by applying opposing torque to the wheels when instability is detected. When the vehicle leans or tilts under external forces (gravity on slopes, centrifugal force in turns), the control system commands the wheel motors to generate counter-torque that opposes the destabilizing force, effectively creating a control-theoretic counterweight.
2Speed
If torque is applied to the wheels for propulsion and steering, then the vehicle achieves motion control, but the torque application affects vehicle stability in a two-wheeled balancing vehicle
Solution Approach 1:
The patent merges the propulsion function and stability control function into a single integrated control system. The same wheel motors that provide forward motion and steering also provide stability control. The control system simultaneously manages acceleration, steering, and balance by coordinating torque application to both wheels, combining multiple functions into one unified control architecture.
Solution Approach 2:
The control system continuously senses vehicle orientation and uses this feedback to adjust wheel torque in real-time. The sensor data about vehicle tilt and orientation feeds back to the control algorithm, which then commands appropriate torque to the wheels to maintain both motion control and stability, creating a closed-loop control system that harmonizes propulsion and stability.
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
The vehicle maintains stability and balance by dynamically adjusting the center of gravity, allowing the rider to control motion through leaning, enhancing safety and ease of operation by preventing falls during dynamic conditions.
Implementation Method 1
a sensor module, for detecting a change in a position of a center of gravity of the vehicle
Implementation Method 2
controlling operation of a drive in response to a change in position of a center of gravity of the vehicle
Implementation Method 3
controlling operation of a drive in response to a change in position of a center of gravity of the vehicle
Implementation Method 4
a drive coupled to the ground-contacting elements
Data Source
Figure 1A
Figure 1B
Figure 2A~2B
AI summary
An apparatus and method for transporting a payload over a surface is provided. A vehicle (1600) supports a payload with a support (1604) partially enclosed by an enclosure (1602). Two laterally disposed ground-contacting elements (1610) are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle; the coupling of the enclosure and/or the support allow them to move with respect to the ground-contacting elements, which allows to vary the position of the center of gravity (1640).