Turn-Wheel Vehicle Control for Roll Torque and Yaw Coordination
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Solution Overview
Problem
Existing vehicle control systems face complexity in managing forces acting on vehicles during turns, leading to inefficiencies in controlling yaw angular acceleration and roll torque, which affects vehicle stability and maneuverability.
Innovation Solution
A vehicle configuration with turnable wheels, a force generator, and a force controller that adjusts roll torque by controlling the turning torque based on reference information, ensuring the direction and magnitude of roll torque align with target values, thereby improving vehicle stability and control during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor is used to assist steering and change vehicle movement, then steering capability and vehicle maneuverability are improved, but the complexity of force control and vehicle stability management increases
Solution Approach 1:
The control system dynamically adjusts steering torque parameters based on vehicle state (yaw angular acceleration, roll torque, gravity center position) to simplify the control process while maintaining improved steering capability
Solution Approach 2:
The system uses feedback from sensors detecting vehicle motion parameters (yaw rate, roll angle, steering angle) to automatically adjust motor assistance torque, reducing the complexity of manual force control while improving steering capability
2Stability of the object's composition
If the force generator is controlled to adjust roll torque, then vehicle stability during turns is improved, but the complexity of the control system increases
Solution Approach 1:
The control system pre-calculates the required roll torque adjustment based on detected vehicle state (gravity center position, yaw angular acceleration) before the turn occurs, simplifying the control process while maintaining vehicle stability
Solution Approach 2:
The system dynamically adjusts roll torque control parameters in real-time based on changing vehicle conditions (speed, steering angle, yaw rate), achieving improved stability without requiring an overly complex fixed control structure
Data Source
AI summary
A vehicle is provided with a vehicle body, N (N is an integer equal to or larger than 2) wheels including one or more front wheels and one or more rear wheels, a force generator, and a force controller. The N wheels include one or more turn wheels turnable in the width direction of the vehicle. The force generator is configured to generate a force which changes a yaw angular acceleration. The force controller is configured to control the force generator. A gravity center of the vehicle body is located away from a rotation center of the vehicle toward front side or rear side when the vehicle turns. The force controller controls the force generator to control a roll torque in the width direction acting on the vehicle body.