Two-Wheel Vehicle Pitch Angle Control on Inclined Planes
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Solution Overview
Problem
Existing two-wheel vehicles with parallel wheels are unstable in the anteroposterior direction during turns on inclined planes, making it difficult for riders to maintain balance due to changing balance angles, and often require measures to prevent turning on such planes, which limits driving performance.
Innovation Solution
A mechanism that estimates the inclination of the plane using a roll axis tilt sensor and calculates the correct pitch angle by canceling the yaw rate mixed in the pitch angular velocity sensor, allowing for stable control during turns by determining the angle between the vehicle body and the turning plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a pitch angular velocity sensor is used to measure the tilt of the pitch axis accurately, then the balance control is improved, but the measurement becomes inaccurate when turning on an inclined plane due to yaw rate mixing
Solution Approach 1:
A roll angular velocity sensor is introduced as an intermediary device to detect the yaw rate component that mixes with the pitch angle measurement. By adding this intermediate measurement channel, the system can separate and eliminate the erroneous yaw rate signal from the pitch angle data, thereby resolving the measurement accuracy issue during inclined plane turning without compromising balance control reliability
Solution Approach 2:
The system uses feedback from the roll angular velocity sensor to continuously monitor and detect yaw rate during turning maneuvers. This feedback mechanism allows the control system to identify when yaw rate mixing occurs and apply appropriate compensation to the pitch angle calculation, maintaining measurement precision and control reliability under varying operating conditions
2Ease of operation
If the vehicle is controlled to maintain a constant pitch angle during turning on an inclined plane, then the balance control is simplified, but the rider finds it difficult to maintain balance due to changing balance angles
Solution Approach 1:
The control system transitions from a static constant pitch angle maintenance approach to a dynamic adaptation approach. By continuously measuring the actual pitch angle and calculating the balance angle based on current vehicle state and inclined plane conditions, the system dynamically adjusts the target pitch angle to match changing balance requirements, thereby maintaining both control simplicity and rider comfort
Solution Approach 2:
The system changes the control parameter from a fixed constant pitch angle to a variable balance angle that adapts to different turning and inclined plane conditions. By calculating and using the balance angle as the control target instead of maintaining a constant pitch angle, the system resolves the conflict between control simplicity and rider balance comfort through parameter transformation
Data Source
AI summary
A traveling apparatus is provided with two wheels parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between the two wheels and traveling. The traveling apparatus includes a mechanism estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction and a mechanism calculating a correct pitch angle by obtaining a yaw rate mixed in the pitch angular velocity sensor based on the estimated inclination and a turn velocity of the vehicle body and by canceling the yaw rate mixed.