Two-Wheeler Roll Stabilization Using IMU Feedback Torque Control
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Solution Overview
Problem
Existing two-wheeled vehicle stabilization systems are bulky, complex, and costly, with delayed stabilization that affects rider confidence and safety, particularly at low speeds, due to their reliance on multiple flywheels, heavy actuators, and expensive sensors.
Innovation Solution
A compact stabilization control system using inertial measurement units to estimate roll angles and provide calculated reaction torque through a self-stabilizing control unit, actuator driver, and sensors, enabling instantaneous stabilization by comparing desired and feedback roll angles and adjusting actuator output accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If multiple flywheels and heavy actuators are used for stabilization, then vehicle stability is improved, but device complexity and weight increase
Solution Approach 1:
The patent extracts and eliminates the complex multiple flywheel system from the stabilization mechanism. Instead, it uses a single actuator with a stabilizing member that can be rotated about a longitudinal axis, significantly simplifying the system architecture while maintaining stabilization effectiveness.
Solution Approach 2:
The patent replaces the mechanical flywheel-based stabilization system with an electronically controlled actuator system. The actuator receives control signals based on sensor feedback and adjusts the stabilizing member's position accordingly, substituting complex mechanical momentum-based stabilization with a more controllable electronic-mechanical hybrid approach.
2Stability of the object's composition
If conventional stabilization systems are used, then vehicle stability is achieved, but response time is delayed
Solution Approach 1:
The patent implements a feedback control system where sensors detect the vehicle's actual position and orientation, and this information is fed back to the control unit. The control unit continuously adjusts the actuator's position based on the difference between desired and actual states, enabling rapid response and correction of instability.
Solution Approach 2:
The system performs preliminary stabilization actions by continuously monitoring vehicle parameters and making small adjustments before significant instability occurs. The actuator is positioned in advance to counteract anticipated tilting or rolling based on sensor predictions and control algorithms.
3Measurement precision
If multiple sensors and complex control units are used, then measurement precision is improved, but system cost increases
Solution Approach 1:
The patent employs sensors that serve multiple functions: detecting roll angle, pitch angle, and linear acceleration. This multi-functionality reduces the need for separate specialized sensors for each parameter, simplifying the overall sensor suite while maintaining comprehensive vehicle state monitoring capability.
Solution Approach 2:
The control unit integrates multiple control functions into a single processing unit that manages actuator positioning, stabilizing member rotation control, and sensor data fusion. This merging of control functions reduces the number of separate control units needed and simplifies the overall control architecture.
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 system provides immediate and robust stabilization, reducing the vehicle's tendency to lean, enhancing safety and rider confidence by maintaining upright stability at low speeds with reduced latency and lower costs, using fewer and less expensive components.
Implementation Method 1
A compact stabilization control system using inertial measurement units to estimate roll angles
Implementation Method 2
using inertial measurement units to estimate roll angles
Implementation Method 3
provide calculated reaction torque through a self-stabilizing control unit, actuator driver
Data Source
AI summary
A stabilization control system for a saddled vehicle including: a vehicle roll angle data unit including a predetermined roll angle of the vehicle; a comparator unit that is configured to receive inputs from the vehicle roll angle data unit and a feedback roll angle data unit and is configured to determine a difference roll angle data between the inputs from the vehicle roll angle data unit and the feedback roll angle data unit; a stabilization control unit that is configured to receive the difference roll angle data from the comparator unit and is configured to enable an actuator driver based upon the difference roll angle data received; and one or more vehicle sensors that are configured to provide inputs to the stabilization control unit.