Vehicle Body Inclination Control via Link Angular Velocity Prediction
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Solution Overview
Problem
Conventional vehicles face challenges in maintaining stability and comfort during turns due to difficulties in inclining the vehicle body, leading to low turning performance and uncomfortable sensations for occupants.
Innovation Solution
A vehicle system that includes a steering section, drive section, steerable wheel, drive wheel, inclination actuator, sensors for detecting lateral acceleration and yaw angular velocity, and a control apparatus to calculate link angular velocity and control the vehicle body inclination, achieving a balance between centrifugal force and gravity, thereby stabilizing the vehicle and enhancing turning performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the vehicle body is inclined toward the inner side of a turning locus to improve turning performance, then the stability of the vehicle is improved, but the operation of inclining the vehicle body becomes difficult and turning performance becomes low
Solution Approach 1:
The control apparatus performs feedback control on the basis of lateral accelerations detected by sensors to automatically adjust the vehicle body inclination, eliminating the need for manual operation while maintaining stability during turns
Solution Approach 2:
The patent replaces manual mechanical inclination operation with an automated control system that uses sensors and actuators to achieve vehicle body inclination, improving both ease of operation and turning performance
2Productivity
If the vehicle body is inclined to improve turning performance, then turning performance is improved, but the occupant experiences uncomfortable sensation and unease
Solution Approach 1:
The control apparatus uses lateral acceleration sensors to continuously monitor the vehicle state and adjusts the inclination angle in real-time to maintain comfort while achieving good turning performance
Solution Approach 2:
The system dynamically adjusts the inclination angle parameter based on detected lateral accelerations and calculated link angular velocity to optimize both turning performance and occupant comfort
3Device complexity
If feedback control is performed based on lateral accelerations alone, then the control system is simple, but control responsiveness is insufficient
Solution Approach 1:
The control apparatus calculates a link angular velocity predicted value in advance using yaw angular acceleration and vehicle speed, allowing the control system to respond more quickly to turning conditions without waiting for lateral acceleration feedback alone
Solution Approach 2:
The patent introduces a calculated link angular velocity predicted value as an intermediary parameter that bridges the gap between simple feedback control and high responsiveness, combining sensor data with computational prediction
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 ensures a stable and comfortable ride by balancing forces acting on the vehicle and occupant, improving control responsiveness and eliminating unnecessary acceleration components, thus enhancing the overall travel experience.
Implementation Method 1
a balance is achieved between the centrifugal force toward the outer side of a turning locus and the force of gravity
Implementation Method 2
a balance is achieved between the centrifugal force toward the outer side of a turning locus and the force of gravity
Implementation Method 3
a plurality of sensors which detect lateral accelerations acting on the vehicle body
Implementation Method 4
yaw angular velocity detection means for detecting yaw angular velocity of the vehicle body
Data Source
AI summary
The vehicle includes a vehicle body having a steering section and a drive section connected together; a steerable wheel which steers the vehicle body; a drive wheel which drives the vehicle body; an inclination actuator apparatus for inclining the steering section or the drive section in a turning direction; a plurality of sensors which detect lateral accelerations; yaw angular velocity detection means; vehicle speed detection means; and a control apparatus which controls the inclination of the vehicle body by controlling the inclination actuator apparatus. The control apparatus performs feedback control on the basis of the lateral accelerations, calculates a link angular velocity predicted value from the derivative value of the yaw angular velocity and the vehicle speed, and controls the inclination of the vehicle body by performing feedforward control while using the calculated link angular velocity predicted value.