Mobile Vehicle Steering Actuator Speed-Dependent Control
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Solution Overview
Problem
Two-wheeled vehicles, such as motorcycles, face challenges in maintaining stability when stopped or traveling at low speeds, requiring enhanced control mechanisms to manage posture and prevent instability.
Innovation Solution
A mobile vehicle equipped with a steering actuator and control device that stabilizes the vehicle's posture by controlling the front or rear wheel's steering, adjusting the sensitivity of steering responses based on speed to maintain stability and facilitate rider control during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the steering actuator generates strong steering force to stabilize posture at low speed, then the stability of vehicle posture is improved, but the rider's control freedom and ease of operation deteriorates during high-speed turns
Solution Approach 1:
The control device dynamically adjusts the steering actuator's output characteristics based on detected traveling speed. At low speeds, the actuator provides strong steering force for posture stabilization. At high speeds, the actuator's steering force is reduced or disabled, allowing the rider to freely control the vehicle's posture during turns. This dynamic adaptation resolves the contradiction between stability at low speed and operational freedom at high speed.
Solution Approach 2:
The control system changes the steering actuator's operational parameters (steering force magnitude, response characteristics) according to the detected traveling speed parameter. By modifying these parameters based on speed conditions, the system achieves both stable posture control at low speeds and rider control freedom at high speeds, resolving the technical contradiction.
2Stability of the object's composition
If the steering system provides high sensitivity response to maintain stability at low speed, then the stability is improved, but the rider effort and complexity of control increases during high-speed operation
Solution Approach 1:
The control device implements dynamic adjustment of steering sensitivity based on traveling speed. At low speeds, high sensitivity is activated for stable posture control. At high speeds, sensitivity is reduced to match rider control expectations and reduce unnecessary control complexity. This dynamic behavior resolves the contradiction between stability and control complexity.
Solution Approach 2:
The system changes control parameters including steering sensitivity and actuator response characteristics according to detected speed conditions. This parameter adaptation allows the system to provide stable control when needed while simplifying control behavior during high-speed operation, resolving the technical contradiction.
3Stability of the object's composition
If the steering axis is tilted backward with large positive trail to enhance straight traveling property, then the straight traveling stability is improved, but the ability to facilitate rider control during high-speed turns deteriorates
Solution Approach 1:
The control device uses feedback from speed detection to adjust steering actuator output. The system detects traveling speed and dynamically modifies the steering actuator's response characteristics, allowing the rider to control the vehicle during high-speed turns despite the large positive trail configuration that normally resists steering input.
Solution Approach 2:
The system changes the effective steering characteristics by adjusting actuator output parameters based on speed conditions. At high speeds, the control system modifies the steering response to overcome the stabilizing effect of the large positive trail, enabling rider control during turns while maintaining the geometric configuration for straight traveling stability.
Data Source
AI summary
In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle φb in the roll direction of the vehicle body 2 and the steering angle δf of the steered wheel 3f. The control device 15 causes a ratio between the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle φb and the sensitivity of the steering of the steered wheel 3f to the change in observed value of the steering angle δf to be changed in accordance with the traveling speed of the mobile vehicle 1A.