JP2011097794A - 協調制御装置 - Google Patents
協調制御装置 Download PDFInfo
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- JP2011097794A JP2011097794A JP2009251558A JP2009251558A JP2011097794A JP 2011097794 A JP2011097794 A JP 2011097794A JP 2009251558 A JP2009251558 A JP 2009251558A JP 2009251558 A JP2009251558 A JP 2009251558A JP 2011097794 A JP2011097794 A JP 2011097794A
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- Prior art keywords
- control
- pair
- control device
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- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Feedback Control In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Manipulator (AREA)
- Control Of Multiple Motors (AREA)
Abstract
【解決手段】複数の制御対象を協調制御する協調制御装置は、一対の出力制御系と、一対の交差回路と、伝達関数部とを具備する。一対の出力制御系は、それぞれ制御回路部を有する一対の制御対象に対して設けられる。一対の交差回路は、出力制御系の制御回路部の一方の入力側から他方の出力側へ、及び他方の入力側から一方の出力側へ設けられる。伝達関数部は、一対の交差回路にそれぞれ設けられる。
【選択図】図2
Description
λ(s)=(Gc(s)+Gv(s))/2
ρ(s)=(Gc(s)−Gv(s))/2
そうすると、数1及び数2は以下の式で表わされる。
10 車輪
Claims (5)
- 複数の制御対象を協調制御する協調制御装置であって、該協調制御装置は、
それぞれ制御回路部を有する、少なくとも一対の制御対象に対する一対の出力制御系と、
前記出力制御系の制御回路部の一方の入力側から他方の出力側へ、及び他方の入力側から一方の出力側への一対の交差回路と、
前記一対の交差回路にそれぞれ設けられる伝達関数部と、
を具備することを特徴とする協調制御装置。 - 請求項1に記載の協調制御装置において、前記制御対象は、車両の少なくとも一対の左右又は前後の車輪であることを特徴とする協調制御装置。
- 請求項2に記載の協調制御装置において、少なくとも一対の車輪の回転速度を協調制御することを特徴とする協調制御装置。
- 請求項2に記載の協調制御装置において、少なくとも一対の車輪のトルクを協調制御することを特徴とする協調制御装置。
- 請求項1に記載の協調制御装置において、前記制御対象は、少なくとも一対のロボットアームであることを特徴とする協調制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009251558A JP5528768B2 (ja) | 2009-10-31 | 2009-10-31 | 協調制御装置 |
US13/505,265 US8788094B2 (en) | 2009-10-31 | 2010-10-29 | Cooperative control device |
PCT/JP2010/069282 WO2011052722A1 (ja) | 2009-10-31 | 2010-10-29 | 協調制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009251558A JP5528768B2 (ja) | 2009-10-31 | 2009-10-31 | 協調制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011097794A true JP2011097794A (ja) | 2011-05-12 |
JP5528768B2 JP5528768B2 (ja) | 2014-06-25 |
Family
ID=43922143
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009251558A Expired - Fee Related JP5528768B2 (ja) | 2009-10-31 | 2009-10-31 | 協調制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8788094B2 (ja) |
JP (1) | JP5528768B2 (ja) |
WO (1) | WO2011052722A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018220805A1 (ja) * | 2017-06-01 | 2018-12-06 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5528768B2 (ja) | 2009-10-31 | 2014-06-25 | 暁林 張 | 協調制御装置 |
CN106936339A (zh) * | 2017-04-16 | 2017-07-07 | 中国石油大学(华东) | 一种自升式海洋平台升降装置同步控制方法及装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0969481A (ja) * | 1995-08-31 | 1997-03-11 | Canon Inc | 同期スキャン制御装置 |
JP2004094939A (ja) * | 2002-08-09 | 2004-03-25 | Omron Corp | モデル構造、制御装置、温度調節器および熱処理装置 |
JP2005078479A (ja) * | 2003-09-02 | 2005-03-24 | Yaskawa Electric Corp | 位置決め制御装置 |
JP2006502685A (ja) * | 2002-07-18 | 2006-01-19 | ティーエム4・インコーポレーテッド | 電気機械用液体冷却装置 |
WO2008152791A1 (ja) * | 2007-06-12 | 2008-12-18 | Tokyo Institute Of Technology | 前庭動眼反射の原理を用いる眼球運動制御装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1219397C (zh) * | 2002-10-22 | 2005-09-14 | 张晓林 | 仿生型自动视觉和视线控制系统及方法 |
JP5528768B2 (ja) | 2009-10-31 | 2014-06-25 | 暁林 張 | 協調制御装置 |
-
2009
- 2009-10-31 JP JP2009251558A patent/JP5528768B2/ja not_active Expired - Fee Related
-
2010
- 2010-10-29 US US13/505,265 patent/US8788094B2/en active Active
- 2010-10-29 WO PCT/JP2010/069282 patent/WO2011052722A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0969481A (ja) * | 1995-08-31 | 1997-03-11 | Canon Inc | 同期スキャン制御装置 |
JP2006502685A (ja) * | 2002-07-18 | 2006-01-19 | ティーエム4・インコーポレーテッド | 電気機械用液体冷却装置 |
JP2004094939A (ja) * | 2002-08-09 | 2004-03-25 | Omron Corp | モデル構造、制御装置、温度調節器および熱処理装置 |
JP2005078479A (ja) * | 2003-09-02 | 2005-03-24 | Yaskawa Electric Corp | 位置決め制御装置 |
WO2008152791A1 (ja) * | 2007-06-12 | 2008-12-18 | Tokyo Institute Of Technology | 前庭動眼反射の原理を用いる眼球運動制御装置 |
Non-Patent Citations (2)
Title |
---|
CSNG200400360020; 張 暁林 Xiaolin Zhang: '両眼眼球運動制御メカニズムの数学モデルと視軸制御システムの構築 Mathematical Model for Binocular Mov' 日本ロボット学会誌 第20巻 第1号 Journal of the Robotics Society of Japan 第20巻 第1号, 20020115, 89-97頁, 社団法人日本ロボット学会 The Robotics Society of * |
JPN6013035704; 張 暁林 Xiaolin Zhang: '両眼眼球運動制御メカニズムの数学モデルと視軸制御システムの構築 Mathematical Model for Binocular Mov' 日本ロボット学会誌 第20巻 第1号 Journal of the Robotics Society of Japan 第20巻 第1号, 20020115, 89-97頁, 社団法人日本ロボット学会 The Robotics Society of * |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018220805A1 (ja) * | 2017-06-01 | 2018-12-06 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
KR20190138700A (ko) * | 2017-06-01 | 2019-12-13 | 닛산 지도우샤 가부시키가이샤 | 전동 차량의 제어 방법 및 제어 장치 |
CN110691710A (zh) * | 2017-06-01 | 2020-01-14 | 日产自动车株式会社 | 电动车辆的控制方法和控制装置 |
JPWO2018220805A1 (ja) * | 2017-06-01 | 2020-05-21 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
KR102131729B1 (ko) | 2017-06-01 | 2020-07-08 | 닛산 지도우샤 가부시키가이샤 | 전동 차량의 제어 방법 및 제어 장치 |
CN110691710B (zh) * | 2017-06-01 | 2020-10-16 | 日产自动车株式会社 | 电动车辆的控制方法和控制装置 |
RU2737640C1 (ru) * | 2017-06-01 | 2020-12-01 | Ниссан Мотор Ко., Лтд. | Способ и устройство управления электродвигателем электрического транспортного средства |
US10972020B2 (en) | 2017-06-01 | 2021-04-06 | Nissan Motor Co., Ltd. | Control method and control device for electric vehicle |
Also Published As
Publication number | Publication date |
---|---|
US20120271456A1 (en) | 2012-10-25 |
US8788094B2 (en) | 2014-07-22 |
JP5528768B2 (ja) | 2014-06-25 |
WO2011052722A1 (ja) | 2011-05-05 |
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