Vehicle Control Apparatus for Inverted Stability with Power Limits
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Solution Overview
Problem
Existing vehicle control systems cannot maintain inverted control when motor power is reduced due to failures, as they rely on a safety wheel to prevent overturn, which is not feasible without sufficient motor power.
Innovation Solution
A vehicle control apparatus that includes state measurement, required power estimation, critical power estimation, reference input modification, and motor control to continue inverted control using available motor power without a safety wheel, by modifying the reference input to keep the load angle within critical power limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a safety wheel is contacted to the ground to prevent overturn when motor power is reduced, then vehicle stability is improved, but the vehicle cannot continue travelling
Solution Approach 1:
The system dynamically changes the reference input parameters (load angle reference, acceleration reference, speed reference) based on the available motor power level. When power is reduced, the controller adjusts these parameters to ensure the required power remains within the available critical power, allowing continued operation at modified performance levels rather than complete stoppage.
Solution Approach 2:
The control system continuously monitors the actual motor power and dynamically adjusts the reference inputs in real-time. The reference input modifier modifies the load angle reference, acceleration reference, and speed reference based on the ratio of critical power to required power, enabling the vehicle to adapt its operation to available power levels and maintain stability while continuing to travel.
2Reliability
If motor power is increased to maintain inverted control under all conditions, then control reliability is improved, but device complexity and power requirements increase
Solution Approach 1:
Instead of designing for worst-case full power requirements, the system implements partial action by operating at reduced power levels when available power is limited. The reference input modifier calculates adjusted references based on the available critical power, allowing the vehicle to maintain inverted control with partial power rather than requiring full power capacity for all conditions.
Solution Approach 2:
The control system changes operational parameters (load angle reference, acceleration reference, speed reference) based on available power levels. By dynamically adjusting these parameters, the system maintains reliable inverted control adaptation to available power without requiring excessive motor power capacity.
3Loss of energy
If the vehicle operates with reduced motor power, then energy efficiency is improved, but control precision and stability deteriorate
Solution Approach 1:
The system employs feedback by continuously monitoring the actual motor power and comparing it with the required power. The reference input modifier uses this feedback to dynamically adjust the reference inputs, ensuring that the vehicle maintains stable inverted control operation at reduced power levels by adapting to the available critical power.
Data Source
AI summary
A vehicle control apparatus includes state measurement means for measuring states of the vehicle; required power estimation means for calculating an estimated required power indicating a motor power required to operate the vehicle based on the states of the vehicle measured by the state measurement means; critical power estimation means for calculating a critical power when the motor power saturates based on the states of the vehicle measured by the state measurement means; modified reference input means for modifying a reference input so that the estimated required power falls within the estimated critical power when it is determined that the estimated required power estimated by the required power estimation means exceeds the estimated critical power estimated by the critical power estimation means; and control means for controlling a motor of the vehicle based on the reference input modified by the modified reference input means.