JP2002306860A - Turning control method for remote control model and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a turning control method of a remote control model and its device enabling turning without destroying a posture even by hasty operation. SOLUTION: At the time of the forward movement of an RC tank, a throttle lever and a steering lever are operated so as to turn it to the right. In a processor 3, whether the throttle lever is in an operation area A1 (first turning pattern) or in an operation area B1 (second turning pattern) is judged by the forward inclination amount of the lever. At the time of judging that it is in the operation area A1 , whether the steering lever is in a proportional turning area, in a right pivot turning area or in a right super pivot turning area is judged by the right inclination amount of the lever (figure 3(A)) and a left and right driving motor is driven corresponding to the judgment. At the time of judging that it is in the operation area B1 , whether the steering lever is in the proportional turning area or in the right super pivot turning area is judged by the right inclination amount of the lever (figure 3(B)) and the left and right driving motor is driven corresponding to the judgment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a remote control (RC).
The present invention relates to a turning control method for a turning speed when a model, for example, an RC tank or the like is turned left and right by remote control, and an apparatus for implementing the method.

[0002]

2. Description of the Related Art Japanese Patent No. 3112661 to the applicant of the present invention discloses an apparatus for improving the turning speed when turning an RC model right and left by remote control.
This enables continuous turning without decelerating the speed during turning. One of the two drive motors is controlled to decelerate, and the other drive motor is increased in accordance with the deceleration speed. Speed control is performed to maintain the sum of the speeds of the two drive motors immediately before turning, so that the turning speed does not decrease during turning.

[0003]

The above device does not reduce the turning speed during turning and makes it possible to turn smoothly without causing any visual discomfort. However, the turning includes the turning modes of proportional turning, pivot turning, and super turning, and each turning mode is appropriately selected by manipulating the throttle lever and the steering lever. Does not cause any particular problem, however, there is a case where the steering from the proportional turning mode to the super pivot turning mode is performed in a hasty manner.
The model C suddenly turns and loses its posture, which causes a problem that the driving feeling differs from that of a real vehicle.

[0004] It is an object of the present invention to provide a method of controlling turning of a remote-control model, which can be turned without losing the posture even by a quick maneuver. Another object of the present invention is to provide a turning device for a remote control model that can easily realize the above method.

[0005]

According to a first aspect of the present invention, there is provided a method for controlling turning of a remote control model according to the present invention, in accordance with the amount of operation of a throttle lever for changing the forward / backward speed of the remote control model. This is a method in which a plurality of turning patterns are selected, a plurality of turning modes are selected in accordance with a steering lever operation amount for changing a left turning / right turning radius of the model, and turning control is performed. In the turning mode selected by the steering lever under the turning pattern when the fixed amount is exceeded, only the proportional turning or the proportional turning and the pivot turning are selected. In other words, when the throttle lever is maneuvered in a direction where the maneuver amount exceeds a predetermined amount, it is possible to turn without changing the posture by adopting a control method that does not select super pivot turning even if the steering lever is operated. To

According to a second aspect of the present invention, in the turning control method for a remote control model, the turning pattern is set such that the first turning is performed when the throttle lever is in a control range within a predetermined amount (for example, 30% of the control amount). The pattern, when it is in the control range exceeding a predetermined amount, is divided into two of the second turning pattern,
In the turning mode under the turning pattern, proportional turning, base turning and super turning are set. In the turning mode under the second turning pattern, proportional turning and base turning are set. When the throttle lever is operated beyond a predetermined amount, the super pivot is not selected.

A turning control device for a remote control model according to a third aspect of the present invention transmits the throttle lever by changing a forward / backward speed of the remote control model and a steering lever operation by changing a left turning / right turning radius of the model. A microprocessor to which the supplied signal is supplied, a PWM controller that generates a pulse having a predetermined duty ratio in accordance with a signal level from the processor, and a PWM signal from the controller and a control signal from the processor mounted on the model. And a motor control circuit for enabling the two drive motors to perform normal rotation and reverse rotation. The processor determines a turning pattern of the model based on a signal transmitted by the throttle lever operation. Pattern determining means for performing the operation, and a signal transmitted by steering lever operation. Mode determining means for determining the turning mode of the model based on the above, and a throttle table storing a PWM set value for controlling the speed of a drive motor for supplying to a PWM controller corresponding to the turning mode under the turning pattern. And a steering table, whereby a device capable of turning without changing the posture can be easily realized.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A turning control device according to an embodiment of the present invention will be described with reference to FIGS. This device 1
It is mounted on a C tank and enables stable turning control of the RC tank. As shown in FIG. 1, a signal from a transmitter (not shown) is supplied via a receiver 2 and the signal A microprocessor having a control program for executing various operation commands based on the control signal, a pulse having a predetermined duty ratio in accordance with a signal level from the processor 3 (PWM setting values of a throttle table 10 and a steering table 11 described later), That is, the PWM controller 4 that generates a PWM signal, and the PWM signal from the controller 4 and the control signal from the processor 3 enable the forward and reverse rotation of the left and right drive motors 5 and 6 mounted on the RC tank. And a motor control circuit 7 that performs the control. The drive motors 5 and 6 apply power to left and right caterpillars (not shown) of the RC tank, respectively. The transmitter is provided with a throttle lever and a steering lever. The forward / backward steering of the throttle lever changes the forward / backward speed of the RC tank, and the left / right steering of the steering lever controls the RC tank. The left and right turning radii of the tank can be changed, and the signals respectively transmitted by the two lever operations are supplied to the processor 3 via the receiver 2.

In addition, the processor 3 determines a plurality of turning patterns of the RC tank based on a signal transmitted by the throttle lever operation, in this embodiment, a pattern judgment for determining whether the turning pattern is the first turning pattern or the second turning pattern. Means 8 and a mode determining means 9 for determining a plurality of turning modes of the RC tank based on a signal transmitted by steering lever operation, in this embodiment, a proportional turning, a base turning, or a super turning. And a PWM controller 4 corresponding to a turning mode under the first turning pattern and a turning mode under the second turning pattern, respectively.
For controlling the speed of the drive motors 5 and 6 for supplying to the motor
It has a throttle table 10 and a steering table 11 in which WM set values are stored.

[0010] The turning pattern is divided into a first turning pattern and a second turning pattern.
% (Predetermined amount), and the second turning pattern is a control range exceeding 30% (predetermined amount). Further, in the turning mode under the first turning pattern and the turning mode under the second turning pattern, in the present embodiment, the turning mode under the first turning pattern includes proportional turning, pivot turning, While the super pivot is set,
In the turning mode under the second turning pattern, the proportional turning and the pivot turning are set, and under the second turning pattern, the super turning is not set. With this, when the throttle lever is moved over the control range of the first turning pattern to the control range of the second turning pattern without any hassle, even if the steering lever is controlled, the super pivot turn is not selected, so that the posture is changed. You can turn without breaking.

[0011] Here, it is set under the first turning pattern.
Of the swivel mode, proportional turn, pivot turn and super turn
And a turning mode set under the second turning pattern.
Throttle lever for proportional turn and pivot turn
Figure 2 and 3 show the relationship between
A more detailed description will be given. 2 and 3 show the throttle lever and
Throttle table corresponding to the amount of steering lever operation
Data stored in the steering wheel 10 and the steering table 11.
Data (PWM setting values)
You. First, the throttle table 10 shown in FIG.
I will tell. In the figure, the vertical axis represents 256 quantization steps.
Take the indicated PWM set value and throttle in the positive direction of the horizontal axis.
Move the lever forward to move the throttle lever in the negative direction.
It uses backward maneuvering.
The PWM set value increases in proportion to the forward movement of the bar,
While the C tank's forward speed is increasing,
Sets the maneuvering amount (-10 to -40%) as the braking mode
And the amount of control (-40 to -100%) is set to the reverse mode.
And the PWM set value increases in proportion to the amount of control.
The braking force in the braking mode, and R in the reverse mode.
The retreat speed of Tank C is increased. And
In the forward mode, the forward operation amount of the throttle lever is 10
% To 30% control area A₁Is the first turning pattern, its forward
Pilot range B with a piloting amount of 30% to 100% ₁The second turning pattern
While in reverse mode, slot
Pilot range A with -40% to -55% backward control of lever lever
₂Is the first turning pattern, after which the amount of maneuver is -55% ~-
100% control area B₂Is set as the second turning pattern.
You. In the present embodiment, the control area of the first turning pattern
A₁And control area A₂And the second turning pattern
Pilot area B₁And control area B₂Is not the same as
In both forward and reverse modes, the first turning pattern and the second
The PWM set value at the boundary point with the turning pattern is
In the figure, points P and Q), in other words, from the first turning pattern
So that the speed at the transition to the second turning pattern is the same
Thus, no difference occurs between the two patterns.
Here, the maneuver amount (-10% to + 10%) is neutral
This is the so-called play area.

Next, the steering table 11 shown in FIG. 3 will be described. FIG. 3A shows data values in the first turning pattern, and FIG. 3B shows data values in the second turning pattern. In both FIGS. 7A and 7B, the vertical axis represents the data structure of the PWM set value in the steering table 11 in the throttle table 1.
Throttle table 1 to have a relationship with that of 0
While a numerical value represented by a magnification of the PWM set value of 0 is taken, steering rightward steering of the steering lever is taken in the positive direction of the horizontal axis, and leftward steering of this lever is taken in the negative direction. In the turning mode of the first turning pattern, as shown in FIG. 3A, for example, in the case of a rightward maneuver of the lever, the rightward maneuver amount (0 to 10%) is set in a neutral range, and the rightward maneuver amount ( 10-70%), the right turning area (70-90%), the right turning area (70-90%), and the right turning area (90-100%). The area is set. Then, in the neutral range, the magnification for both drive motors 5 and 6 is set to "1" times equal to the PWM set value of the speed commanded by the throttle lever (hereinafter referred to as command speed), and the right proportional turning is performed. In the range, the PWM for the right drive motor 5 is
The rate of increase of the PWM set value (solid line in the figure) for the left drive motor 6 is set in inverse proportion to the rate of decrease in the set value (dashed line in the figure). Is set to “0”, the above-mentioned magnification for the left drive motor 6 is set to “1.5” times the PWM set value of the command speed, and the above-mentioned magnification for the right drive motor 5 is commanded in the right turning area. The speed is set to "1.5" times the PWM set value, and the magnification for the left drive motor 6 is set to "1.5" times the PWM set value of the command speed. still,
The operation of the lever to the left is similar to that of the lever to the right, and the description thereof is omitted.

In the turning mode of the second turning pattern, as shown in FIG. 3 (B), for example, when the lever is steered rightward, the rightward maneuvering amount (0 to 10%) is set in a neutral range, and the rightward maneuver is set. The right proportional turning area is set at the steering amount (10 to 70%), and the right pivot turning area is set at the right tilting amount (70 to 100%). Then, in the neutral range, the magnification for both drive motors 5 and 6 is set to “1” so as to be equal to the PWM set value of the command speed.
In the right proportional turning range, the PWM set value for the left drive motor 6 (solid line in the figure) is inversely proportional to the decreasing rate of the PWM set value for the right drive motor 5 (broken line in the figure).
In the right pivot turn area, the magnification for the right drive motor 5 is set to “0”, while the magnification for the left drive motor 6 is set to “1.
5 "times. Note that the operation of the lever to the left is similar to that of the lever to the right, and the description thereof is omitted.

In the turning mode described above, the right drive motor 5 is short-circuited and stopped in the right pivot turn, and the left drive motor 6 is short-circuited and stopped in the left pivot turn. The right drive motor 5 is controlled to rotate in the reverse direction during a right turn, and the left drive motor 6 is controlled to rotate forward in the left turn. Are controlled in reverse, while the motor control circuit 7 is operated by a control signal from the processor 3 so that the right drive motor 5 is controlled in forward rotation. Here, the motor control circuit 7 is a well-known circuit composed of drive circuits 12a and 12b for driving the power MOS EFT and H bridge circuits 13a and 13b connected to the drive circuits 12a and 12b, respectively. By the switching operation based on the control signal from, each of the drive motors 5, 6 can be subjected to forward rotation, reverse rotation, and short-circuit braking.

Only the case where the vehicle 1 makes a right turn in the forward mode using such a device 1 will be described. In the case of making a left turn in the reverse mode or a case of making a left turn in the forward or backward mode, the forward mode is used. The description is omitted because it is equivalent to the case of turning right. The pilot of the RC tank steers the throttle lever and the steering lever of the transmitter so that the RC tank makes a right turn when moving forward. A signal corresponding to the amount of forward movement of the throttle lever is supplied to the processor 3 via the receiver 2, and the processor 3 controls the throttle table 10
, A PWM setting value of a signal level corresponding to the above signal is read, and a PWM signal is generated in the PWM controller 4 based on the read PWM setting value. The PWM signal and a control signal from the processor 3 are: As a result of being supplied to the drive motors 5, 6 connected to the H-bridge circuits 12a, 12b, respectively, the drive motors 5, 6 are controlled to rotate forward, and the RC tank advances. At this time, in the processor 3, the pattern judging means 8 determines whether the throttle lever is in the control range A ₁ (first turning pattern) or the control range B ₁ (second turning pattern) depending on the forward lean amount of the current throttle lever. Is determined. Now, it is assumed that it is determined that if a maneuver area A _1.

[0016] Processor under steering area A ₁ of the thus determined throttle lever, when the steering lever is right-inclined steered by the operator, a signal corresponding to the rightward tilt amount of the steering lever via the receiver 2 The processor 3 reads the PWM set value of the signal level corresponding to the above-mentioned signal with reference to the steering table 11, and the mode determining means 9 determines that the lever is in the right proportional turning range by the rightward tilt amount. If determined, PW
In the M controller 4, a PWM signal is generated based on the magnification of the read PWM set value, that is, the deceleration magnification of the PWM set value for the right drive motor 5 and the speed increase magnification of the PWM set value for the left drive motor 6, and the PWM signal is generated. The PWM signal and the control signal from the processor 3 are transmitted to the drive motors 5, 6
As a result, the RC tank turns right proportionally.

When the mode determining means 9 determines that the lever is in the right pivot turn area based on the rightward tilt amount,
While the right drive motor 5 is short-circuited and braked by the control signal from the processor 3, the PWM controller 4 reads the PWM setting value of the above-mentioned magnification “1.5” for the left drive motor 6 with reference to the steering table 11. , And the PWM signal and the control signal from the processor 3 are supplied to the left drive motor 6, so that the RC tank makes a right turn. When the mode determining means 9 determines that the lever is in the right turning corner turning area based on the rightward tilt amount, a control signal from the processor 3 for controlling the right drive motor 5 to rotate in the reverse direction and for controlling the left drive motor 6 to rotate in the forward direction. Is supplied to each of the drive motors 5 and 6, while the PWM controller 4 reads out the magnification “1.5” for the right drive motor 5 and the readout for the left drive motor 6 with reference to the steering table 11. As a result of generating a PWM signal based on the PWM set value of the magnification “1.5” and supplying the PWM signal to each of the drive motors 5 and 6, the RC tank makes a right super turn.

However, when the pattern determining means 8 determines that the throttle lever is in the control range B ₁ (second turning pattern), and under such a determination, when the driver steers the steering lever rightward, the processor In step 3, the PWM setting value of the signal level corresponding to the signal corresponding to the rightward tilt amount of the steering lever is read out with reference to the steering table 11, and the mode determination means 9 determines that the lever is in the right proportional turning range according to the rightward tilt amount. Is determined, the PWM controller 4 generates a PWM signal based on the magnification of the read PWM set value, that is, the deceleration magnification of the PWM set value for the right drive motor 5 and the speed increase rate of the PWM set value for the left drive motor 6. The generated PWM signal and the control signal from the processor 3 are transmitted to the drive motors 5 and 6. Feeding the outcome, RC tanks right proportional turning. When the mode determining means 9 determines that the lever is in the right turning area based on the rightward tilt amount, the right drive motor 5 is short-circuited and braked by the control signal from the processor 3, while the PWM controller 4 controls the steering table 11. A PWM signal is generated based on the PWM set value of the magnification “1.5” for the left drive motor 6 read out with reference to the above. The PWM signal and a control signal from the processor 3 are transmitted to the left drive motor As a result, the RC tank makes a right turn.

As described above, when the throttle lever is in the control range B
_{In 1} (second turning pattern), the turning area of the turning mode selected by the steering lever is limited to the proportional turning area and the pivot turn area. That is, when the throttle lever is operated in a direction in which the control amount exceeds a predetermined amount, in this embodiment, in a direction exceeding 30% of the total control amount, even if the steering lever is operated, even if the RC tank is operated, A pivot turn is not performed, so that all turns including a pivot turn can be performed without changing the posture.

[0020]

According to the turning control apparatus of the remote control model of the present invention, the turning can be performed without breaking the posture even by the quick maneuver. Further, according to the remote control model turning control device of the present invention, the above method can be easily realized.

[Brief description of the drawings]

FIG. 1 is a block configuration diagram of a turning control device according to an embodiment of the present invention.

FIG. 2 illustrates data of a throttle table stored in a microprocessor of the apparatus.

FIG. 3 illustrates steering table data stored in a microprocessor of the apparatus.

[Explanation of symbols]

 Reference Signs List 1 turning control device 3 microprocessor 4 PWM controller 5 right drive motor 6 left drive motor 7 motor control circuit 8 pattern determination means 9 mode determination means 10 throttle table 11 steering table 12a, 12b drive circuits 13a, 13b H bridge circuit

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C150 AA14 BA03 CA08 DA06 DA09 DA11 DK02 DK07 EA02 EB01 EC03 EC25 ED02 ED10 EF17 EF36

Claims (3)

[Claims] 1. A plurality of turning patterns are selected according to a steering amount of a throttle lever for changing a forward / backward speed of a remote control model, and a steering lever is changed for changing a left turning / right turning radius of the model. A method of controlling turning by selecting a plurality of turning modes, wherein in the turning mode under the turning pattern when the operation amount of the throttle lever exceeds a predetermined amount, only proportional turning, or proportional turning and A turning control method of a remote control model, wherein a pivot turning is selected. 2. A first turning pattern when the operation amount of the throttle lever is in a control range within a predetermined amount, and a second turning pattern when the operation amount is in a control range exceeding the predetermined amount. 2. The method according to claim 1, wherein the lower turning mode is a proportional turning, a pivot turning, and a super turning, and the turning mode under the second turning pattern is a proportional turning and a pivot turning. 3. The turning control method of the remote control model described in the above. 3. A microprocessor supplied with a signal transmitted by a throttle lever for changing a forward / backward speed of a remote control model and a steering lever for changing a left turning / right turning radius of the model, and a signal from the processor. A PWM controller for generating a pulse having a predetermined duty ratio in accordance with the level;
A motor control circuit that enables forward and reverse rotation of the two drive motors mounted on the model by an M signal and a control signal from the processor; Pattern determining means for determining a turning pattern of the model based on a signal transmitted by the throttle lever steering; mode determining means for determining a turning mode of the model based on a signal transmitted by the steering lever steering; P for controlling the speed of the drive motor for supplying to the PWM controller corresponding to the turning mode under
A turning control device for a remote control model, comprising a throttle table and a steering table in which WM set values are stored.