Vehicle Tilt Assist Control Using Weighted Torque Feedback
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Solution Overview
Problem
Extreme sports enthusiasts, particularly beginners, face challenges in controlling the tilt angle of vehicles with multiple wheels, as they rely solely on their experience, leading to a high risk of the vehicle overturning when attempting stunts, due to the difficulty in maintaining a safe tilt angle without proper assistance.
Innovation Solution
A method and device that combine user input from a throttle assembly with attitude information from the vehicle to generate a weighted torque instruction, using proportional coefficients to control the tilt angle within a safe threshold, ensuring the vehicle remains within a stable tilt range by adjusting the balance controller's influence based on user proficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the operator turns the throttle sharply to perform tilting action, then the tilting speed and responsiveness are improved, but the tilt angle exceeds the safe angle threshold causing the vehicle to overturn
Solution Approach 1:
The control device continuously monitors the tilt angle through attitude information feedback and dynamically adjusts the torque instruction to the motor controller. When the tilt angle approaches the target angle threshold, the control device automatically reduces the torque to prevent exceeding the safe angle, thereby maintaining vehicle stability while allowing rapid tilting responses.
Solution Approach 2:
The system dynamically adjusts the torque instruction based on real-time tilt angle conditions. The control device modifies the torque magnitude according to the current state, enabling the vehicle to achieve fast tilting when needed while automatically preventing overturning when the tilt angle approaches unsafe levels.
2Ease of operation
If traditional operators rely on their own experiences to complete tilting action, then the manipulation flexibility is improved, but the control precision and safety are worsened due to high requirements on operator skill
Solution Approach 1:
The control device acts as an intermediary between the operator's throttle input and the motor's actual torque output. It receives the first torque instruction from the throttle assembly, combines it with attitude information, and generates a third torque instruction that ensures the tilt angle remains within safe thresholds, thereby improving control precision without reducing manipulation flexibility.
Solution Approach 2:
The system replaces manual skill-based control with an automated control algorithm that processes throttle inputs and attitude information. This substitution of mechanical/operator-based control with electronic control ensures precise tilt angle management while maintaining the operator's ability to initiate tilting actions freely.
3Adaptability or versatility
If beginners attempt tilting action without assistance, then the learning experience is improved, but the safety risk increases due to difficulty in maintaining safe tilt angle
Solution Approach 1:
The control device implements beforehand cushioning by continuously monitoring the tilt angle and preparing to reduce torque before the vehicle reaches dangerous tilt levels. This preventive control mechanism cushions against potential overturning risks, allowing beginners to attempt tilting actions safely while learning.
Solution Approach 2:
The vehicle's control system provides self-service safety protection by automatically adjusting torque based on tilt angle feedback. This self-regulating mechanism serves to protect beginners from overturning risks without requiring external intervention, enabling them to learn tilting actions safely.
Data Source
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AI summary
A method and device for assisting a vehicle to tilt includes: receiving a first torque instruction output by a throttle assembly, and generating a second torque instruction, in which the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle; performing a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction; and outputting the third torque instruction to a motor controller, and controlling a tilt angle of the vehicle by the motor controller based on the third torque instruction, in which the tilt angle of the vehicle is less than or equal to a target angle threshold.