JP2014184890A - Self-balancing mobile body, and control method for same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To downsize a battery.SOLUTION: A self-balancing mobile body 1 comprises: a motor for driving drive wheels 5; a battery for supplying electric power to the motor; and a control unit 9 including a motor control part 91 for generating a control command value in response to an attitude state of the self-balancing mobile body and an inverter 92 for generating a drive current for driving the motor. The self-balancing mobile body 1 travels by maintaining a self-balancing state. When the self-balancing mobile body 1 is in an acceleration control state, the inverter 92 generates the drive current to output to the motor based on a control command value from the motor control part 91 and an electric power from the battery 10. When the self-balancing mobile body 1 is in a deceleration control state, the inverter 92 consumes regenerative electric power outputted from the motor.

Description

  The present invention relates to an inverted moving body that travels while maintaining an inverted state, and a control method thereof.

  An inverted mobile body that travels while maintaining an inverted state is in an unstable state when stopped due to a failure or the like, and therefore a multiplexing system is generally employed. On the other hand, even when a multiplexing system is employed, if an operation exceeding the maximum output torque of the system is performed, the system may fall over. Here, because of the characteristics of the inverted mobile body, the fall during acceleration falls to the front, so that the passenger can land with his feet forward and get off. On the other hand, since the fall at the time of deceleration falls to the rear, the passenger getting off becomes more unstable. Therefore, in the inverted type moving body, it is necessary to secure a larger output torque margin on the deceleration side. On the other hand, for example, an inverted moving body that travels while maintaining an inverted state is known (see Patent Document 1).

Japanese Patent No. 4866521

  In the inverted moving body shown in Patent Document 1, the output torque on the acceleration side is set in accordance with the output torque during deceleration with a large output torque margin described above, and the capacity of the battery is determined. Therefore, there exists a possibility of leading to the enlargement of a battery.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide an inverted moving body capable of reducing the size of a battery and a control method thereof.

One aspect of the present invention for achieving the above object is to generate a control command value in accordance with a motor that drives a drive wheel, a battery that supplies electric power to the motor, and a posture state of the inverted moving body. And an inverter that generates a drive current for driving the motor, and an inverted moving body that travels while maintaining an inverted state, the inverted type When the moving body is in the acceleration control state, the inverter generates the drive current based on the control command value from the motor control unit and the electric power from the battery, and outputs the drive current to the motor. When the moving body is in a deceleration control state, the inverter consumes regenerative power output from the motor.
In this aspect, the absolute value of the maximum deceleration torque of the motor with respect to the moving speed of the inverted moving body may be set larger than the absolute value of the maximum acceleration torque of the motor with respect to the moving speed.
In this aspect, the motor control unit outputs the control command value at which the moving speed of the inverted moving body becomes substantially zero during a predetermined period before switching from the deceleration state during forward travel to the acceleration state during reverse travel. It may be generated.
In this aspect, the inverter may have an internal resistor that consumes regenerative power output from the motor.
In this one aspect, the control device may be configured as a dual system including a pair of the motor control units and a pair of the inverters.
One aspect of the present invention for achieving the above object is to generate a control command value in accordance with a motor that drives a drive wheel, a battery that supplies electric power to the motor, and a posture state of the inverted moving body. And a control device having a motor control unit that generates a drive current for driving the motor, and a control method for an inverted moving body that travels while maintaining an inverted state, When the inverted moving body is in an acceleration control state, the inverter generates the drive current based on a control command value from the motor control unit and electric power from the battery, and outputs the drive current to the motor And the inverter consumes regenerative power output from the motor when the inverted moving body is in a deceleration control state. It may be.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted type mobile body which can reduce a battery, and its control method can be provided.

It is a perspective view which shows schematic structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a block diagram which shows the schematic system configuration | structure of the inverted moving body which concerns on this Embodiment 1. FIG. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the relationship between the motor output torque at the time of acceleration / deceleration, and a moving speed. It is a figure which shows an example of the relationship between the motor output torque at the time of forward / backward travel and acceleration / deceleration, and a moving speed. It is a flowchart which shows the control processing flow by the control method of the inverted type mobile body which concerns on Embodiment 1 of this invention. It is a figure which shows the state which produces | generates the control command value from which a moving speed becomes 0 in the predetermined period before switching from a forward deceleration state to a reverse acceleration state.

Embodiment 1 FIG.
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a schematic configuration of an inverted moving body according to Embodiment 1 of the present invention. The inverted mobile body 1 according to the first embodiment includes, for example, a vehicle main body 2, a pair of left and right step portions 3 that are attached to the vehicle main body 2 and a passenger appears, and is mounted on the vehicle main body 2 so as to be tiltable. And a pair of left and right drive wheels 5 rotatably attached to the vehicle body 2.

  The inverted mobile body 1 according to the first embodiment is configured as a coaxial two-wheeled vehicle that travels while maintaining an inverted state, for example, with each drive wheel 5 being coaxially disposed. The inverted moving body 1 moves the passenger's center of gravity back and forth, moves forward and backward by inclining each step portion 3 of the vehicle body 2 back and forth, moves the passenger's center of gravity left and right, and moves the vehicle body 2 The step part 3 is tilted to the left and right to perform left and right turning. In addition, although the coaxial two-wheeled vehicle as described above is applied as the inverted moving body 1, the present invention is not limited to this and can be applied to any moving body that travels while maintaining an inverted state.

  FIG. 2 is a block diagram illustrating a schematic system configuration of the inverted moving body according to the first embodiment. The inverted moving body 1 according to the present embodiment detects a pair of wheel drive units 6 that drive each drive wheel 5, a posture sensor 7 that detects the posture of the vehicle body 2, and rotation information of each drive wheel 5. A pair of rotation sensors 8, a control device 9 that controls each wheel drive unit 6, and a battery 10 that supplies power to the wheel drive unit 6 and the control device 9.

  Each wheel drive unit 6 is built in the vehicle body 2 and drives a pair of left and right drive wheels 5. Each wheel drive unit 6 can rotate and drive a pair of drive wheels 5 independently. Each wheel drive unit 6 can be comprised by the motor 61 and the reduction gear 62 connected with the rotating shaft of the motor 61 so that power transmission was possible, for example.

  The posture sensor 7 is provided in the vehicle main body 2 and detects and outputs posture information of the vehicle main body 2 and the operation handle 4. The posture sensor 7 detects posture information when the inverted mobile body 1 is traveling, and is composed of, for example, a gyro sensor and an acceleration sensor. When the passenger tilts the operation handle 4 forward or backward, each step unit 3 tilts in the same direction. The posture sensor 7 detects posture information corresponding to the tilt. The attitude sensor 7 outputs the detected attitude information to the control device 9.

  Each rotation sensor 8 is provided on each drive wheel 5 and the like, and can detect rotation information such as a rotation angle, a rotation angular velocity, and a rotation angle acceleration of each drive wheel 5. Each rotation sensor 8 includes, for example, a rotary encoder, a resolver, and the like. Each rotation sensor 8 outputs the detected rotation information to the control device 9.

  The battery 10 is built in, for example, the vehicle body 2 and is configured by a lithium ion storage battery or the like. The battery 10 supplies power to each wheel drive unit 6, the control device 9, and other electronic devices.

  The control device 9 generates and outputs a control signal for driving and controlling each wheel drive unit 6 based on detection values output from various sensors mounted on the inverted moving body. The control device 9 executes predetermined arithmetic processing based on, for example, posture information output from the posture sensor 7, rotation information of each driving wheel 5 output from each rotation sensor 8, and sends necessary control signals to each Output to the wheel drive unit 6. The control device 9 controls each wheel drive unit 6 to execute, for example, an inverted control that maintains the inverted state of the inverted moving body 1.

  FIG. 3 is a block diagram illustrating a schematic system configuration of the control device according to the first embodiment. The control device 9 according to the present embodiment is configured as an electronic control device (ECU: Electrical Control Unit) including a pair of motor control units 91 and a pair of inverters 92. Thus, by duplicating the motor control unit 91 and the inverter 92, the reliability of the control system of the inverted moving body 1 is improved, and the safety is improved.

  Each motor control unit 91 of the control device 9 is a control for driving and controlling each wheel drive unit 6 based on the posture information output from the posture sensor 7 and the rotation information output from each rotation sensor 8. Generate a command value. Each motor control unit 91 outputs the generated control command value to each inverter 92.

  Each motor control unit 91 includes, for example, a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) and a RAM (Random Access Memory) that store arithmetic programs executed by the CPU, and the like. The hardware is composed mainly of a microcomputer including a memory and an interface unit (I / F) for inputting / outputting signals to / from the outside. The CPU, memory, and interface unit are connected to each other via a data bus or the like.

  Each inverter 92 of the control device 9 performs, for example, PWM (Pulse Width Modulation) control based on the control command value output from each motor control unit 91, and uses the power from the battery 10 to set the control command value. A corresponding drive current is generated. Each inverter 92 outputs the generated drive current to the motor 61 of each wheel drive unit 6. The motor 61 of each wheel drive unit 6 rotationally drives each drive wheel 5 according to the drive current output from each inverter 92 of the control device 9. Thereby, the inverted mobile body 1 can perform desired traveling such as forward and backward movement and left and right turning, for example.

  When the inverted moving body 1 is in a decelerating state, the motor 61 of each wheel drive unit 6 rotates to generate regenerative power. On the other hand, each inverter 92 of the control device 9 has an internal resistor 921 that consumes regenerative power output from the motor 61 of each wheel drive unit 6.

  By the way, from the viewpoint of safety, it is desirable that the inverted moving body secures a sufficient margin for the motor output torque on the deceleration side from the viewpoint of traveling while maintaining the inverted state. On the other hand, conventionally, the motor output torque on the acceleration side is set in accordance with the motor output torque on the deceleration side, and the capacity of the battery is set. For this reason, there exists a possibility that a battery may enlarge unnecessarily.

  Therefore, in the inverted moving body 1 according to the first embodiment, in the acceleration control state, each inverter 92 of the control device 9 is configured to control the control command value from each motor control unit 91, the power from the battery 10, and the like. , And a motor 61 of each wheel drive unit 6 is controlled. On the other hand, in the deceleration control state, each inverter 92 of the control device 9 consumes regenerative power output from the motor 61 of each wheel drive unit 6. Thus, the motor output torque during deceleration can be set with a sufficient margin secured using the internal resistance 921 of each inverter 92 of the control device 9. Therefore, the capacity of the battery 10 can be set in consideration of only the output torque during acceleration without considering the motor output torque during deceleration (FIG. 4). For this reason, the capacity of the battery 10 can be set to a necessary and sufficient size, and the battery 10 can be reduced in size and weight. In addition, the reduction in size and weight of the inverted mobile body 1 can be easily realized by reducing the size and weight of the battery 10.

As shown in FIG. 5, when the inverted moving body 1 according to the first embodiment is in the forward moving state and the reverse moving state, the maximum deceleration torque of the motor 61 of each wheel drive unit 6 with respect to the moving speed of the inverted moving body 1. The absolute value of (output limiting torque) T1 _max is set larger than the absolute value of the maximum acceleration torque (output limiting torque) T2 _max of the motor 61 of each wheel drive unit 6 with respect to the moving speed. In this way, the output limiting torque of the motor 61 of each wheel drive unit 6 can be set optimally in the four quadrants (acceleration / deceleration and forward / reverse travel).

  FIG. 6 is a flowchart illustrating a control processing flow according to the control method for the inverted moving body according to the first embodiment. For example, when the passenger performs an acceleration operation (such as an operation of tilting each step unit 3 forward) on the inverted mobile body 1 (step S101), each motor control unit 91 of the control device 9 outputs from the attitude sensor 7 A control command value for each wheel drive unit 6 is generated on the basis of the posture information and the rotation information output from each rotation sensor 8 (step S102), and output to each inverter 92 of the control device 9 To do.

  Each inverter 92 of the control device 9 generates a drive current corresponding to the control command value based on the control command value output from each motor control unit 91 and the power from the battery 10 (step S103). Output to the motor 61 of each wheel drive unit 6. The motor 61 of each wheel drive unit 6 rotationally drives each drive wheel 5 according to the drive current from each inverter 92 of the control device 9, and accelerates the inverted moving body 1 (step S104).

  On the other hand, when the occupant performs a deceleration operation (an operation for inclining each step portion 3 backward) in the inverted moving body 1 (step S105), the motor 61 of each wheel drive unit 6 uses the regenerative power to the control device 9. To each inverter 92 (step S106). The internal resistance 921 of each inverter 92 consumes the power output from the motor 61 of each wheel drive unit 6 (step S107). Thereby, each drive wheel 5 receives resistance force from the motor 61 of each wheel drive unit 6 and decelerates its rotation, so that the inverted moving body 1 decelerates (step S108). Thus, when the inverted moving body 1 is in the acceleration state, the motor 61 of each wheel drive unit 6 is driven using the battery 10, each motor control unit 91 and each inverter 92 of the control device 9. On the other hand, when the inverted moving body 1 is in a decelerating state, the motor 61 of each wheel drive unit 6 is driven using only each inverter 62 of the control device 9 without using the battery 10.

  As described above, in the inverted moving body 1 according to the first embodiment, when in the acceleration control state, each inverter 92 of the control device 9 has the control command value from each motor control unit 91, the electric power from the battery 10, and Based on the above, a drive current is generated, and the motor 61 of each wheel drive unit 6 is controlled. On the other hand, in the deceleration control state, each inverter 92 of the control device 9 consumes regenerative power output from the motor 61 of each wheel drive unit 6. Thereby, the capacity | capacitance of the battery 10 can be set only considering the output torque at the time of acceleration, without considering the motor output torque at the time of deceleration. For this reason, the capacity | capacitance of the battery 10 can be set to required and sufficient magnitude | size, and size reduction of the battery 10 is attained.

Embodiment 2. FIG.
In the second embodiment of the present invention, in addition to the configuration of the inverted moving body 1 according to the first embodiment, the inverted moving is performed in a predetermined period before switching from the deceleration state at the time of forward movement to the acceleration state at the time of backward movement. A control command value in which the moving speed of the body 1 is substantially 0 is generated (FIG. 7).

  In the first embodiment, a discontinuous region exists when the inverted mobile body 1 shifts from a deceleration state during forward movement to an acceleration state during backward movement. In a four-wheeled vehicle or the like, it is unlikely that a state of shifting from sudden deceleration during forward travel to acceleration during reverse travel is performed. On the other hand, in the inverted mobile body 1, when the vehicle is decelerated, in order to maintain the inverted state, a temporary reverse movement is always required, and the discontinuous region is generated.

  Therefore, in the inverted moving body 1 according to the second embodiment, as shown in FIG. 7, each motor control unit 91 of the control device 9 has a predetermined state before switching from the deceleration state during forward travel to the acceleration state during reverse travel. In the period, a control command value is generated so that the moving speed of the inverted moving body 1 is substantially zero. Thereby, it can change to the acceleration state at the time of reverse drive from the deceleration state at the time of forward movement reliably, and smoother and safe driving | running | working of the inverted mobile body 1 is attained.

  In the second embodiment, other configurations are substantially the same as those in the first embodiment, and thus detailed description thereof is omitted. Further, the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Inverted type mobile body 2 Vehicle main body 3 Step part 4 Operation handle 5 Drive wheel 6 Wheel drive unit 7 Attitude sensor 8 Rotation sensor 9 Control apparatus 10 Battery 91 Motor control part 92 Inverter 921 Internal resistance

Claims (6)

A motor for driving the drive wheels;
A battery for supplying power to the motor;
A control device having a motor control unit that generates a control command value according to the posture state of the inverted moving body, and an inverter that generates a drive current for driving the motor;
An inverted mobile body that travels while maintaining an inverted state,
When the inverted moving body is in the acceleration control state, the inverter generates the drive current based on the control command value from the motor control unit and the power from the battery, and outputs the drive current to the motor.
The inverted moving body, wherein the inverter consumes regenerative power output from the motor when the inverted moving body is in a deceleration control state. The inverted mobile body according to claim 1,
The inverted type wherein the absolute value of the maximum deceleration torque of the motor with respect to the moving speed of the inverted moving body is set larger than the absolute value of the maximum acceleration torque of the motor with respect to the moving speed. Moving body. The inverted mobile body according to claim 2,
The motor control unit generates the control command value at which the moving speed of the inverted moving body becomes substantially zero in a predetermined period before switching from a deceleration state during forward travel to an acceleration state during backward travel. Inverted type moving body. The inverted mobile body according to any one of claims 1 to 3,
The inverter has an internal resistance that consumes regenerative power output from the motor. The inverted mobile body according to any one of claims 1 to 4,
The said control apparatus is comprised as a double system which has a pair of said motor control part and a pair of said inverter, The inverted type moving body characterized by the above-mentioned. A motor for driving the drive wheels;
A battery for supplying power to the motor;
A control device having a motor control unit that generates a control command value according to the posture state of the inverted moving body, and an inverter that generates a drive current for driving the motor;
A method for controlling an inverted moving body that travels while maintaining an inverted state,
When the inverted moving body is in an acceleration control state, the inverter generates the drive current based on a control command value from the motor control unit and electric power from the battery, and outputs the drive current to the motor When,
And a step of consuming the regenerative power output from the motor when the inverted moving body is in a deceleration control state.

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