JP2008516582A - ピッチ変調による車両制御 - Google Patents
ピッチ変調による車両制御 Download PDFInfo
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- JP2008516582A JP2008516582A JP2007535917A JP2007535917A JP2008516582A JP 2008516582 A JP2008516582 A JP 2008516582A JP 2007535917 A JP2007535917 A JP 2007535917A JP 2007535917 A JP2007535917 A JP 2007535917A JP 2008516582 A JP2008516582 A JP 2008516582A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
- B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
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Abstract
Description
車両が「バランスのとれた状態」で動いていると言えるのは、車輪の動作を支配する制御ループの動作を別にすれば、1つ以上の車輪での動作が可能で、しかしそれらの車輪のみでは静止した状態でいられない場合である。バランスのとれた車両は、バランスのとれたモードでの動作中、静安定に欠けるが、動的にはバランスがとれている。そのような車両と、グランドまたは他の下地表面との間の接触を提供し、かつ、定常動作中にチッピングに関するトランスポータを最小限にサポートする、車輪または他のグランドに接触する素子は、本明細書において「主要な車輪」という。本明細書中、およびあらゆる添付の請求項中に用いられる「安定性」とは、システムがいかなる点においても、動作位置から外れて不安定になった場合、システムが自然に戻る動作位置の機械的状態をいう。用語「システム」とは、車両が動いている表面に関して、車輪の動きによって動かされる全ての質量をいい、従って、車両およびライダの両方を含む。
本発明による安定化車両の一実施形態は、図2に図示されており、通常、数字10により指定される。ユーザー8は、図2に示されるように、車両10のユーザー支持具12上に着座した姿勢である。理解され得ることであるが、ユーザー8はシートに座ること以外によっても支えられ得、例えば、本発明の範囲内において、プラットフォームの形状でユーザー支持具上に立ち得る。
・Tは回転軸に対するグランド接触素子に適用されるトルクを意味する。
・K1(θ)は、以下に論議されるように、傾きθの瞬間値に依存し得るゲイン関数である。
・θは、後輪の共通軸Yの下のグランド接触領域についての、全体のシステムの傾きに対応する量であり、θ0はシステムピッチオフセットの大きさを表し、全ては以下において詳細に論議される。
・vは表面に沿った前後の速度を識別し、vcommandはユーザー入力(例えば、ジョイスティック)18によって構成された、スロットルのようなユーザー入力の大きさを表す。
・文字の上の点は、時間に関して微分された変数を意味する。
・下付きの変数は、以下に記述されるように、システムに入力され得る特定のオフセットを意味する。
・K1、K2、K3およびK4は、ゲイン関数、または係数であり、システムの設計または実時間のいずれかにおいて、現在の動作モードおよび動作条件、およびユーザーの好みに基づいて構成され得る。ゲイン係数は、正の、負の、またはゼロの大きさであり得る。ゲインK1、K2、K3およびK4は、システムの物理的パラメータおよび重力のような他の効果に依存する。方程式1の簡略化された制御アルゴリズムは、ライダの体の動き、または下にある地形によるシステムの質量中心の変化がある中、車両のバランスを維持する。
LeftCmd=BalCmd+YawCmd (2)
RightCmd=BalCmd−YawCmd (3)
LeftCmdおよびRightCmdは、微分または他の適切な条件付けの後、コントローラ500および502により、それぞれ、左右のモーター増幅器に送られる命令である。例えば、図3に例として示されるように、LeftCmdおよびRightCmdは、微分回路504および506により、それぞれ、条件付きであり得る。LeftCmdおよびRightCmdは、増幅器が電圧制御モードの場合は電圧を表し、増幅器が電流制御モードの場合は電流を表し、増幅器がデューティサイクル制御モードの場合はデューティサイクルを表す。BalCmdはピッチコントローラ500により、各増幅器に送られる命令であり、移動中または静止中にバランスのとれた状態でトランスポータを維持する。YawCmdは、車輪のうちの1つへの命令を減らす一方で、もう片方の車輪への命令を増やすことにより、トランスポータをターンさせる。例えば、正のYawCmdは左の車輪への命令を増やし、その一方で、右の車輪への命令を減らし、これによって、トランスポータが右ターンを実行するようになる。YawCmdは、上述のヨー入力デバイスにより生成され得、米国特許第6,288,505号に記載されているように、フィードバックループなしで、またはクローズトサイクルループを用いて、ヨー位置エラーを修正する。
Claims (22)
- 下地表面上の特定方向の運動に対する車両の前後安定化のための方法であって、
該車両は前輪と後輪とを含む複数の駆動車輪を有し、
該前輪は該車両の運動の瞬間的方向に垂直な力により特徴付けられ、
該方法は、
該運動の方向に垂直な該前輪にかかる該力に基づいて該後輪にトルクを適用すること
を含む、方法。 - 小ピッチ変調を誘導するために周期的トルクを前記車輪のうちの少なくとも1つに適用することをさらに含む、請求項1に記載の方法。
- 前記適用された周期的トルクに応答して、前記車両のピッチ変動を検出することと、
該適用された周期的トルクに応答して、少なくとも、あらゆる検出されたピッチ変動を基礎として前記後輪に安定化トルクを適用することと
をさらに含む、請求項2に記載の方法。 - 下地表面上の特定方向の運動に対する車両の前後安定化のための方法であって、
該車両は前輪と後輪とを含む複数の駆動車輪を有し、該前輪は該車両の運動の瞬間的方向に垂直な力により特徴付けられ、該方法は、
該車両の瞬間的に検知された傾斜に垂直な、該前輪にかかる該力に基づいて該後輪にトルクを適用すること
を含む、方法。 - 小ピッチ変調を誘導するために周期的トルクを前記車輪のうちの少なくとも1つに適用することをさらに含む、請求項4に記載の方法。
- 前記適用された周期的トルクに応答して、前記車両のピッチ変動を検出することと、
該適用された周期的トルクに応答して、少なくとも、あらゆる検出されたピッチ変動を基礎として前記後輪に安定化トルクを適用することと
をさらに含む、請求項5に記載の方法。 - 少なくとも1つの前輪と少なくとも1つの後輪とを有する車両の運動のピッチ安定化のための装置であって、
該車両の運動の瞬間的方向に垂直な該前輪にかかる力を検知するセンサと、
該後輪を駆動するモーター作動器と、
少なくとも該前輪にかかる該垂直な力に基づいた、制御規則を基礎として、該後輪にトルクを適用するコントローラと
を含む、装置。 - 前記車両の運動の瞬間的方向に垂直な前記前輪にかかる力を検知する第2センサをさらに含む、請求項7に記載の装置。
- 前記コントローラは、前記モーター作動器に前記少なくとも1つの後輪に周期的トルクを適用させ、小ピッチ変調を誘導する、請求項7に記載の装置。
- 前記周期的トルクに応答して前記車両のピッチ変動を検出するためのピッチ検出器
をさらに含み、
前記コントローラは、該適用された周期的トルクに応答して、少なくとも、あらゆる検出されたピッチ変動を基礎として、前記モーター作動器に、前記少なくとも1つの後輪に安定化トルクを適用させる、請求項9に記載の装置。 - 安定化車両であって、
少なくとも1つの前輪と、
少なくとも1つの後輪と、
該車両の運動の瞬間的方向に垂直な該前輪にかかる力を検知する、少なくとも1つのセンサと、
該車両の瞬間的ピッチを検知する少なくとも1つのセンサと、
該後輪を駆動するモーター作動器と、
少なくとも該前輪にかかる該垂直な力に基づいた、制御規則を基礎として、該後輪にトルクを適用するコントローラと
を含む、安定化車両。 - 前記車両は、ペダル駆動の自転車である、請求項11に記載の安定化車両。
- 前記車両は自動二輪車である、請求項11に記載の安定化車両。
- 前記車両は全地形用車両である、請求項11に記載の安定化車両。
- 前記車両は車椅子である、請求項11に記載の安定化車両。
- 前記コントローラは、前記前輪が移動表面と接触しているか否かに関わらず、同様に該車両の動作を制御する、請求項11に記載の安定化車両。
- 安定化車両であって、
少なくとも1つの前輪と、
少なくとも1つの後輪と、
該車両の瞬間的ピッチを検知する少なくとも1つのセンサと、
該後輪を駆動するモーター作動器と、
該車両の該瞬間的ピッチの関数に少なくとも基づいた制御規則を基礎として、該後輪にトルクを適用するコントローラと
を含む、安定化車両。 - 前記車両はペダル駆動の自転車である、請求項17に記載の安定化車両。
- 前記車両は自動二輪車である、請求項17に記載の安定化車両。
- 前記車両は全地形用車両である、請求項17に記載の安定化車両。
- 前記車両は車椅子である、請求項17に記載の安定化車両。
- 前記制御規則は少なくとも前記車両の前記瞬間的ピッチに基づく、請求項17に記載の安定化車両。
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EP1805071B1 (en) | 2017-02-22 |
JP2008517569A (ja) | 2008-05-22 |
CA2582463A1 (en) | 2006-04-20 |
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CA2824852C (en) | 2015-08-18 |
CA2891706C (en) | 2017-12-19 |
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EP1805071A1 (en) | 2007-07-11 |
JP4948416B2 (ja) | 2012-06-06 |
JP2019017248A (ja) | 2019-01-31 |
JP2017184611A (ja) | 2017-10-05 |
WO2006042302A1 (en) | 2006-04-20 |
CA2891706A1 (en) | 2006-04-20 |
CA2578196A1 (en) | 2006-04-20 |
JP2014195403A (ja) | 2014-10-09 |
JP2012178975A (ja) | 2012-09-13 |
CA2582463C (en) | 2014-02-04 |
EP1796953A2 (en) | 2007-06-20 |
JP5184088B2 (ja) | 2013-04-17 |
EP1796953B1 (en) | 2017-09-20 |
ES2618557T3 (es) | 2017-06-21 |
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