JP4840301B2 - Control parameter determining device and multi-axis moving body device for each driving device of multi-axis moving body - Google Patents

Control parameter determining device and multi-axis moving body device for each driving device of multi-axis moving body Download PDF

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JP4840301B2
JP4840301B2 JP2007230705A JP2007230705A JP4840301B2 JP 4840301 B2 JP4840301 B2 JP 4840301B2 JP 2007230705 A JP2007230705 A JP 2007230705A JP 2007230705 A JP2007230705 A JP 2007230705A JP 4840301 B2 JP4840301 B2 JP 4840301B2
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靖彦 川波
耕三 井手
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Yaskawa Electric Corp
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本発明は、搬送車など移動体の走行制御方法に関するもので、特に、多軸移動体の各駆動装置の制御パラメータ決定方法およびその装置に関する。   The present invention relates to a traveling control method for a moving body such as a transport vehicle, and more particularly to a control parameter determination method and apparatus for each driving device of a multi-axis moving body.

電動機を駆動輪とした搬送車や移動台車に荷物を載せて走行させる場合、荷物の重量が判明していないと、駆動輪を速度制御する場合の最適な制御ゲインを設定することができず安定に走行制御することができない。
従来の移動体による荷物の重量測定方法として圧力センサや重量計測器上に荷物を搭載した状態の移動体を載せて重量を計測し、それを駆動輪の制御パラメータとして演算し、速度制御系の最適なゲインを求めていた。
一方、センサや測定装置を用いない重量測定方法として、特許文献１〜４の例があった。これらは、搭載物を載置台に搭載した時の載置台に備えた前輪の変形による外周変化の下での走行距離と搭載物無しの場合の走行距離とを比較して荷重を求めていた。また、他の搭載物の重量推定方法として、移動体を一定速度になるまで加速させ、この際に得られたトルクと加速度から移動体の搭載物の重量を推定していた。この重量を制御パラメータとして演算し、速度制御系のゲイン制御信号を演算することで安定な走行制御を実現していた。
特開２００４-０９１０７９号公報 特開昭６０-１６９９１２号公報（第４頁、図１） 特開昭６０- ５８３１３号公報（第６頁、図３） 特開昭６２-６５９１０９号公報（第５頁、図３） When traveling with a load on a transport vehicle or moving carriage that uses an electric motor as a drive wheel, if the weight of the load is not known, the optimal control gain for speed control of the drive wheel cannot be set and stable. Cannot be controlled.
As a conventional method of measuring the weight of a load by a moving body, the weight is measured by placing the moving body with the load mounted on a pressure sensor or a weight measuring instrument, and the weight is calculated as a control parameter for the driving wheel. The optimum gain was sought.
On the other hand, there existed the example of patent documents 1-4 as a weight measuring method which does not use a sensor and a measuring device. In these cases, the load is obtained by comparing the travel distance under the change in the outer circumference due to the deformation of the front wheel provided on the mounting table when the mounted object is mounted on the mounting table with the traveling distance in the case of no load. As another weight estimation method for the load, the moving object is accelerated to a constant speed, and the weight of the load on the moving object is estimated from the torque and acceleration obtained at this time. By calculating this weight as a control parameter and calculating a gain control signal of the speed control system, stable traveling control has been realized.
JP 2004-091079 A Japanese Patent Laid-Open No. 60-169912 (page 4, FIG. 1) JP-A-60-58313 (page 6, FIG. 3) JP-A-62-659109 (5th page, FIG. 3)

従来例の複数の駆動装置を持つ移動体は、一定速度まで加速する時に検出したトルクから搭載物の重量を推定していたが、重心位置のずれを考慮していないため、移動体の走行時に各駆動装置に適正な指令を与えることができず、安定な走行ができなかった。
本発明は、移動体上に重量不明の搭載物を任意の場所に配置しても、搭載物の重量および重心位置のずれを検出、または演算によって推定し、この重量および重心位置ずれを制御パラメータとして演算し、自動的に各駆動装置のゲイン調整することで安定な走行を実現できる多軸移動体の制御パラメータ決定方法を提供することを目的とする。
また、従来例では路面の動摩擦係数を考慮していないため、路面状況に応じた制御パラメータの決定ができず駆動輪を安定に制御することができなかった。本発明は、等速運動中に各駆動装置で検出させる動摩擦係数μも制御パラメータとして演算し、自動的に各駆動装置のゲイン調整することで安定な走行を実現できる多軸移動体の制御パラメータ決定方法を提供することを目的とする。 The moving body having a plurality of driving devices of the conventional example estimates the weight of the load from the torque detected when accelerating to a constant speed, but does not consider the deviation of the center of gravity position, so when moving the moving body An appropriate command could not be given to each drive unit, and stable running could not be performed.
The present invention detects or estimates the displacement of the weight and the center of gravity position of the mounted object even if an unknown weight mounted object is placed on the moving object, and the weight and the gravity center position deviation are controlled by the control parameter. It is an object of the present invention to provide a control parameter determination method for a multi-axis moving body that can realize stable traveling by calculating the gain of each driving device automatically.
Further, in the conventional example, since the dynamic friction coefficient of the road surface is not taken into consideration, the control parameter according to the road surface condition cannot be determined, and the driving wheel cannot be controlled stably. The present invention calculates the dynamic friction coefficient μ detected by each driving device during constant speed motion as a control parameter, and automatically adjusts the gain of each driving device to control the multi-axis moving body that can realize stable traveling The purpose is to provide a decision method.

上記問題を解決するため、本発明は、次のように構成したものである。
請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置の発明は、筐体の側面に前記筐体の重心回りに等角度で３つ以上の駆動輪を配置し、前記駆動輪と前記重心を結ぶ直線を軸として前記駆動輪を回転するようにした多軸移動体の前記各駆動輪を駆動する駆動装置の制御パラメータ決定装置において、
搭載物を搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置とがずれた状態で置き、
前記搭載物の搭載前の重心位置を通る駆動輪の軸に平行な方向に向かって前記平行な方向の両側に線対称に配置される２つの駆動輪を選択して駆動し、一定速度に到達するまで前記多軸移動体を直線運動させ、前記駆動された２つの駆動輪に発生するトルクを検出し該トルク比を求め、前記駆動された２つの駆動輪を結ぶ軸線を前記トルク比で分配した第１分配点を求め、
前記多軸移動体を前回とは異なる駆動輪でかつ前記選択した駆動輪と前記筐体の重心回りに１８０度離れた位置にない駆動輪を選択し、該選択した駆動輪の駆動軸と平行な方向に向かって一定速度に到達するまで前記多軸移動体を直線運動させて前回と同様にして第２分配点を求め、前記第１分配点と前記第２分配点とに基づいて前記搭載物の搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置との距離を推定し、
前記距離を前記制御パラメータとして演算することで前記多軸移動体を安定に走行制御するようにしたのである。 In order to solve the above problems, the present invention is configured as follows.
The invention of the control parameter determination device for each drive device of the multi-axis moving body according to claim 1 is characterized in that three or more drive wheels are arranged at equal angles around the center of gravity of the housing on the side surface of the housing, In a control parameter determination device for a driving device that drives each driving wheel of a multi-axis moving body configured to rotate the driving wheel about a straight line connecting the center of gravity and the center of gravity ,
Place the mounted object in a state where the center of gravity position of the multi-axis moving body after mounting and the position of the center of gravity of the multi-axis moving body before mounting are shifted,
Select and drive two drive wheels that are arranged symmetrically on both sides of the parallel direction toward the direction parallel to the axis of the drive wheel that passes through the center of gravity before the load is mounted, and reach a constant speed to is linear motion the polyaxial mobile to the sought driven two detecting a torque generated in the drive wheels the torque ratio, distribute axis connecting the two drive wheels which are the driven by the torque ratio Find the first distribution point
The multi-axis moving body is selected as a driving wheel different from the previous one, and the selected driving wheel and a driving wheel not located at a position 180 degrees around the center of gravity of the housing are selected and parallel to the driving axis of the selected driving wheel. The multi-axis moving body is linearly moved until reaching a constant speed in a certain direction to obtain a second distribution point in the same manner as the previous time, and the mounting is performed based on the first distribution point and the second distribution point. Estimating the distance between the center of gravity position of the multi-axis moving body after mounting an object and the position of the center of gravity of the multi-axis moving body before mounting ,
The multi-axis moving body is stably controlled by calculating the distance as the control parameter.

請求項２記載の発明は、請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置において、前記パラメータ決定装置によって決定された各駆動装置の制御パラメータを基に各駆動装置に最適なゲイン調整をすることで前記多軸移動体を安定に走行制御するようにしたのである。 The invention according to claim 2 is the control parameter determination device for each drive device of the multi-axis moving body according to claim 1 , and is optimal for each drive device based on the control parameter of each drive device determined by the parameter determination device . Thus, the multi-axis moving body is stably controlled by adjusting the gain appropriately.

請求項３記載の発明は、請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置において、式（１）から前記搭載物の重量を推定することで前記多軸移動体を安定に走行制御するようにしたのである。
(T 1 +T 2 )・cosθ = (M1+M2)・R2・dω/dt + M3・R2・dω/dt ・・・式（１）
ここで、T 1 ：一方の駆動輪の検出トルク、
T 2 ：他方の駆動輪の検出トルク、
θは多軸移動体と駆動輪との角度で、多軸移動体に取り付けられた駆動輪の数によって変化し、θ=（１８０−３６０／駆動輪数）／２、
M1:多軸移動体の重量、
M2:搭載物Ｗの重量、
ω：駆動輪の角速度、
M3:駆動輪の重量、
R:駆動輪の半径、である。 According to a third aspect of the invention, the control parameter determination device of each drive unit of the multi-axis moving body in accordance with claim 1, wherein said multi-axis moving body by estimating the weight of the payload from the formula (1) stable Therefore, the vehicle is controlled to travel.
( T 1 + T 2 ) ・ cosθ = (M 1 + M 2 ) ・ R 2・ dω / dt + M 3・ R 2・ dω / dt (1)
Where T 1 is the detected torque of one drive wheel ,
T 2 : Detected torque of the other drive wheel ,
θ is an angle between the multi-axis moving body and the driving wheel, and varies depending on the number of driving wheels attached to the multi-axis moving body. θ = (180-360 / number of driving wheels) / 2
M 1 : Weight of multi-axis moving body,
M 2 : weight of the load W,
ω: angular velocity of the drive wheel,
M 3 : Drive wheel weight,
R: radius of the driving wheel.

請求項４記載の発明は、請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置において、前記搭載物を前記多軸移動体単体の重心位置に乗せて移動する場合に速度指令が与えられた駆動輪のゲインを予め算出し、
次ぎに前記多軸移動体上に搭載する場合に前記搭載物の搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置とをずれた状態で置き、
式（２）から駆動輪の前記トルク比を求め、式（３）〜（５）から各駆動輪のゲインを修正することで前記多軸移動体を安定に走行制御するようにしたのである。
T3a: T3b: T3c = (T3a1 * T3a2):( T3b1 * T3a2):( T3c2 * T3a1) ・・・・・・式（２）
ここで、Ｔ３a、Ｔ３ｂ、Ｔ３ｃ ：駆動輪のトルク、
Ｔ３a１、Ｔ３ｂ１：一方向に直線運動させたときの駆動輪３a、３ｂのトルク、
Ｔ３a２、Ｔ３ｃ２：他の方向に直線運動させたときの駆動輪３a、３ｃのトルク、
G3a = G ・T3a /(T3a + T3b + T3c) ・・・・・・式（３）
G3b = G ・T3b /(T3a + T3b + T3c) ・・・・・・式（４）
G3c = G ・T3c /(T3a + T3b + T3c) ・・・・・・式（５）
ここで、G3a , G3b ,G3c：各駆動輪の補正後のゲイン、
G：搭載物の推定重量を重心位置上で移動する時の駆動輪のゲイン
請求項５記載の多軸移動体装置の発明は、請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置を備えたことで前記多軸移動体を安定に走行制御するようにしたのである。 According to a fourth aspect of the present invention, in the control parameter determining device for each driving device of the multi-axis moving body according to the first aspect , when the mounted object is moved on the center of gravity position of the multi-axis moving body alone, a speed command is provided. Pre-calculate the gain of the drive wheel given
Next, when mounting on the multi-axis moving body, the center of gravity position of the multi-axis moving body after mounting the mounted object and the center of gravity position of the multi-axis moving body before mounting are shifted and placed.
Obtains the torque ratio of the driving wheels from Equation (2), it was so as to stably travel control the multi-axis moving body by modifying the gain of each drive wheel from the equation (3) to (5).
T 3a : T 3b : T 3c = (T 3a1 * T 3a2 ) :( T 3b1 * T 3a2 ) :( T 3c2 * T 3a1 ) ・ ・ ・ ・ ・ ・ Equation (2)
Here, T 3a , T 3b , T 3c : Driving wheel torque,
T 3a1 , T 3b1 : Torque of the drive wheels 3a, 3b when linearly moving in one direction,
T 3a2 , T 3c2 : Torque of the drive wheels 3a, 3c when linearly moving in other directions,
G 3a = G • T 3a / (T 3a + T 3b + T 3c ) ・ ・ ・ ・ ・ ・ Equation (3)
G 3b = G · T 3b / (T 3a + T 3b + T 3c ) ··· Equation (4)
G 3c = G · T 3c / (T 3a + T 3b + T 3c ) ········· Equation (5)
Where G 3a , G 3b , G 3c : the corrected gain of each drive wheel,
G: Gain of driving wheel when the estimated weight of the load is moved on the position of the center of gravity The invention of the multi-axis moving body device according to claim 5 is a control parameter of each driving device of the multi-axis moving body according to claim 1. By providing the determination device, the multi-axis moving body is stably controlled for traveling .

請求項１に記載の発明によると、多軸移動体を一定速度に到達するまで直線に走行させたときに発生する各駆動装置間のトルク比から重心位置のずれを推定し、制御パラメータとして演算し、各駆動装置に最適なゲイン調整をすることで、多軸移動体の重心位置を中心とした安定な走行制御を実現することができる。 According to the first aspect of the present invention, the deviation of the center of gravity is estimated from the torque ratio between the driving devices generated when the multi-axis moving body travels linearly until reaching a constant speed, and is calculated as a control parameter. In addition, by performing optimum gain adjustment for each driving device, it is possible to realize stable traveling control around the center of gravity of the multi-axis moving body .

請求項２に記載の発明によると、パラメータ決定装置によって決定された各駆動装置の制御パラメータを基に各駆動装置に最適なゲイン調整をすることで、安定な走行制御を実現することができる。According to the second aspect of the present invention, stable travel control can be realized by performing optimum gain adjustment for each drive device based on the control parameter of each drive device determined by the parameter determination device.
請求項３に記載の発明によると、式（１）から搭載物の重量を推定することで、安定な走行制御を実現することができる。  According to the third aspect of the present invention, stable traveling control can be realized by estimating the weight of the load from the equation (1).

請求項４に記載の発明によると、式（２）〜（５）から各駆動輪のゲインの修正が簡単かつ正確に行えるようになる。According to the fourth aspect of the present invention, the gain of each drive wheel can be easily and accurately corrected from the equations (2) to (5).
請求項５に記載の発明によると、請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置を備えたことで、多軸移動体の重心位置を中心とした安定な走行制御を実現する多軸移動体装置が得られる。  According to the invention described in claim 5, by providing the control parameter determination device for each drive device of the multi-axis moving body according to claim 1, stable traveling control centering on the position of the center of gravity of the multi-axis moving body is achieved. A multi-axis moving body device to be realized is obtained.

以下、本発明の実施の形態について図を参照して説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

〈重心の推定方法〉
図１は、本発明の多軸移動体１の例で，（ａ）は上面図、（ｂ）は正面図である。
筐体２の側面に３つの駆動輪３（３ａ〜３ｃ）が互いに１２０度の間隔で取り付けられている。各駆動輪３ａ〜３ｃの外周にはそれぞれ駆動輪３ａ〜３ｃの軸方向３ａｓ〜３ｃｓに回転する多数の車輪５が配置されていることで、駆動輪３ａ〜３ｃは回転方向３ａｒ〜３ｃｒのほかに軸方向３ａｓ〜３ｃｓにも移動することができる。多軸移動体１は、その上面中央に搭載物Ｗを載せて重心位置４を中心に走行、回転する。 <Method of estimating the center of gravity>
FIG. 1 is an example of a multi-axis moving body 1 according to the present invention, in which (a) is a top view and (b) is a front view.
Three drive wheels 3 (3a to 3c) are attached to the side surface of the housing 2 at intervals of 120 degrees. A large number of wheels 5 that rotate in the axial directions 3as to 3cs of the drive wheels 3a to 3c are arranged on the outer circumferences of the drive wheels 3a to 3c, respectively, so that the drive wheels 3a to 3c are in addition to the rotation directions 3ar to 3cr. It can also move in the axial direction 3as-3cs. The multi-axis moving body 1 travels and rotates around the center of gravity position 4 with the load W placed on the center of the upper surface thereof.

図２は本発明の三輪式多軸移動体の上に搭載物を載せた時の上面図である。
図において、多軸移動体１の上面に重量不明の搭載物Ｗを多軸移動体１の重心位置４からずらして載せた状態を示している。このように配置することで搭載物Ｗを含む多軸移動体１の重心は重心位置４から重心位置７へ移動する。 FIG. 2 is a top view when a load is placed on the three-wheeled multi-axis moving body of the present invention.
In the drawing, a state in which a load W of unknown weight is placed on the upper surface of the multiaxial moving body 1 while being shifted from the center of gravity position 4 of the multiaxial moving body 1 is shown. By arranging in this way, the center of gravity of the multi-axis moving body 1 including the load W moves from the center of gravity position 4 to the center of gravity position 7.

図３は図２のように搭載物Ｗを多軸移動体１上に中心からそれた位置に置いた際の搭載物Ｗの重量および重心位置を推定する方法のフローチャート８である。
まず、多軸移動体１上の搭載物Ｗの重量変化があったかどうかを判断し（９ａ）、判断結果、変化がなければステップ１５ａへ飛んでそのまま走行を続ける。
また、判断結果、変化があればまず一方向への直線運動ルーチンに移り、ステップ１０ａで一方向への直線運動をし、各駆動輪３ａ〜３ｃでの各トルク検出を行い（ステップ１１ａ）、駆動輪３ａ〜３ｃ間のトルク比検出を行う（ステップ１２ａ）。
次に、他の方向への直線運動ルーチンに移り、前のステップ１０ａでの直線運動とは異なる方向に直線運動を行う（ステップ１０ｂ）。各駆動輪３ａ〜３ｃでの各トルク検出を行い（ステップ１１ｂ）、駆動輪３ａ〜３ｃ間のトルク比検出を行う（ステップ１２ｂ）。
その後、ステップ１３ａで搭載物Ｗの重量と重心位置を推定し、これを制御パラメータとして演算し、各駆動輪３のゲイン補正を行った後（ステップ１４ａ）、多軸移動体１を走行させる（ステップ１５ａ）。 FIG. 3 is a flowchart 8 of a method for estimating the weight and the center of gravity position of the load W when the load W is placed on the multi-axis moving body 1 at a position off the center as shown in FIG.
First, it is determined whether or not there is a change in the weight of the load W on the multi-axis moving body 1 (9a), and if there is no change as a result of the determination, the process jumps to step 15a and continues running.
Further, if there is a change in the determination result, first, the routine moves to a linear motion routine in one direction, and linear motion in one direction is performed in step 10a, and each torque is detected in each of the drive wheels 3a to 3c (step 11a). Torque ratio detection between the drive wheels 3a to 3c is performed (step 12a).
Next, the process moves to a linear motion routine in another direction, and linear motion is performed in a direction different from the linear motion in the previous step 10a (step 10b). Each torque detection in each driving wheel 3a-3c is performed (step 11b), and the torque ratio detection between the driving wheels 3a-3c is performed (step 12b).
Thereafter, in step 13a, the weight and the center of gravity position of the load W are estimated, calculated as control parameters, and after gain correction for each drive wheel 3 (step 14a), the multi-axis moving body 1 is run ( Step 15a).

以上のフローチャート８の手法について図４〜図６を用いて具体的に説明する。
まず、図３のフローチャート８の１つめのルーチンを図４のようにして実行する。図４は本発明の三輪式多軸移動体を直線走行させた時の上面図である。図４のように搭載物Ｗを搭載した状態で重心位置４を通る駆動輪３ｃの軸に平行な方向１９ｃに向かって多軸移動体１を一定速度に達するまで直線運動させる（図３のステップ１０ａ）。この場合、駆動輪３aと３ｂには速度指令を与えるが、駆動輪３ｃには速度指令を与えず、駆動輪３ｃの外周に配備した車輪５を空転させる。
重心位置７が重心位置４から偏心している結果、直線運動している駆動輪３a、３ｂから反力として検出される駆動輪３aのトルクＴ3a1２０と駆動輪３ｂのトルクＴ3b1２１を検出する（図３のステップ１１ａ）と、両者に差が生じる。そこで、駆動輪３a、３ｂのそれぞれの取り付け部を結ぶ軸線２２をこのトルク比（Ｔ3a1：Ｔ3b1）で分配する。この場合、線分２３は駆動輪３ｂのトルクＴ3b1２１による長さとなり、線分２４は駆動輪３ａのトルクＴ3a1による長さ２０となり、この比で分配点２５が求まる。 The method of the flowchart 8 will be specifically described with reference to FIGS.
First, the first routine of the flowchart 8 of FIG. 3 is executed as shown in FIG. FIG. 4 is a top view when the three-wheeled multi-axis moving body of the present invention is linearly traveled. As shown in FIG. 4, the multi-axis moving body 1 is linearly moved in a direction 19c parallel to the axis of the drive wheel 3c passing through the center of gravity position 4 with the load W mounted thereon until a constant speed is reached (step of FIG. 3). 10a). In this case, a speed command is given to the drive wheels 3a and 3b, but a speed command is not given to the drive wheel 3c, and the wheels 5 arranged on the outer periphery of the drive wheel 3c are idled.
As a result of the eccentricity of the center of gravity position 7 from the center of gravity position 4, the torque T 3a1 20 of the driving wheel 3a and the torque T 3b1 21 of the driving wheel 3b detected as reaction force from the driving wheels 3a and 3b that are linearly moving are detected. (Step 11a in FIG. 3) and a difference occur between the two. Therefore, the axis 22 connecting the mounting portions of the drive wheels 3a and 3b is distributed at this torque ratio (T 3a1 : T 3b1 ). In this case, the line segment 23 has a length due to the torque T 3b1 21 of the drive wheel 3b, and the line segment 24 has a length 20 due to the torque T 3a1 of the drive wheel 3a, and the distribution point 25 is obtained by this ratio.

次に、図３のフローチャート８の２つめのルーチンを図５のようにして実行する。図５は本発明の三輪式多軸移動体を他の方向へ直線走行させた時の上面図である。図５は図４の直線方向とは異なる直線方向へ直線運動させるもので、図において、重心位置４を通る駆動輪３ｂの軸方向に平行な方向１９ｂに向かって多軸移動体１を一定速度に達するまで直線運動 １０ｂさせる。
この場合、駆動輪３a、３ｃには速度指令を与えるが、駆動輪３ｂには速度指令を与えず、駆動輪３ｂの外周に配備した車輪５を空転させる。
この結果、重心位置７が重心位置４から偏心していることにより駆動輪３a、３ｃから反力として検出される駆動輪３aのトルクＴ3a2 ２６と駆動輪３ｃのトルクＴ3c2２７に差が生じる。駆動輪３a、３ｃのそれぞれの取り付け部を結ぶ軸線２８をこのトルク比（Ｔ3a2：Ｔ3c2）で分配する。この場合、線分２９は駆動輪３aのトルクＴ3a2２６による長さ、線分３０は駆動輪３ｃのトルクＴ3c2２７による長さとなり、分配点３１が求まる。 Next, the second routine of the flowchart 8 of FIG. 3 is executed as shown in FIG. FIG. 5 is a top view when the three-wheeled multi-axis moving body of the present invention is linearly moved in the other direction. FIG. 5 shows a linear motion in a linear direction different from the linear direction of FIG. 4. In the figure, the multiaxial moving body 1 is moved at a constant speed in a direction 19 b parallel to the axial direction of the drive wheel 3 b passing through the center of gravity position 4. 10b linear motion until reached.
In this case, the speed command is given to the drive wheels 3a and 3c, but the speed command is not given to the drive wheel 3b, and the wheels 5 arranged on the outer periphery of the drive wheel 3b are idled.
As a result, since the center of gravity position 7 is eccentric from the center of gravity position 4, a difference is generated between the torque T 3a2 26 of the driving wheel 3a detected as a reaction force from the driving wheels 3a and 3c and the torque T 3c2 27 of the driving wheel 3c. The axis 28 connecting the respective attachment portions of the drive wheels 3a and 3c is distributed at this torque ratio (T 3a2 : T 3c2 ). In this case, the line segment 29 has a length due to the torque T 3a2 26 of the drive wheel 3a, and the line segment 30 has a length due to the torque T 3c2 27 of the drive wheel 3c, and the distribution point 31 is obtained.

図６は本発明の三輪式多軸移動体に搭載物を載せた時の重心位置の求め方を説明する上面図である。図６から判るように、図４で求めた分配点２５から駆動輪３ｃの軸に平行な直線３２と、図５で求めた分配点３１から駆動輪３ｂの軸に平行な直線３３の交点から重心位置７を推定することができる。   FIG. 6 is a top view for explaining how to obtain the position of the center of gravity when a load is placed on the three-wheeled multi-axis moving body of the present invention. As can be seen from FIG. 6, from the intersection of the straight line 32 parallel to the axis of the drive wheel 3c from the distribution point 25 obtained in FIG. 4 and the straight line 33 parallel to the axis of the drive wheel 3b from the distribution point 31 obtained in FIG. The barycentric position 7 can be estimated.

重心位置７の位置をさらに精度よく求めるため、重心位置４を通る駆動輪３aの軸３ａｓ（図１ａ参照）方向に平行な方向１９ａ（図６）にも多軸移動体１を直線運動させてもよい。この場合、駆動輪３ｂ、３ｃには速度指令を与えるが、駆動輪３ａには速度指令を与えず、駆動輪３ａの外周に配備した車輪５を空転させて、駆動輪３ｂのトルクと駆動輪３ｃのトルクとを測定する。重心が移動していることからトルクに差が生じるので、駆動輪３ｂ、３ｃのそれぞれの取り付け部を結ぶ軸線をこのトルク比で分配すれば分配点が求まる。そこでこの分配点から駆動輪３ａの軸に平行な直線を引くと、図４および図５で求めた重心位置を通ることで推定重心が正確であることが確認できる。また、先の重心位置からずれていれば、３つの推定重心の描く三角形の重心を取る等の補正をすればよい。   In order to obtain the position of the center of gravity position 7 with higher accuracy, the multi-axis moving body 1 is linearly moved also in a direction 19a (FIG. 6) parallel to the direction of the axis 3as (see FIG. 1a) of the drive wheel 3a passing through the center of gravity position 4. Also good. In this case, a speed command is given to the drive wheels 3b and 3c, but a speed command is not given to the drive wheel 3a, and the wheel 5 provided on the outer periphery of the drive wheel 3a is idled so that the torque of the drive wheel 3b and the drive wheel The torque of 3c is measured. Since a difference in torque occurs because the center of gravity moves, a distribution point can be obtained by distributing the axis line connecting the mounting portions of the drive wheels 3b and 3c at this torque ratio. Therefore, when a straight line parallel to the axis of the drive wheel 3a is drawn from this distribution point, it can be confirmed that the estimated center of gravity is accurate by passing through the center of gravity position obtained in FIGS. If the center of gravity is shifted from the previous center of gravity, correction such as taking the center of gravity of the triangle drawn by the three estimated centers of gravity may be performed.

〈搭載物の重量推定方法〉
次に、搭載物Ｗの重量の推定方法を説明する。
図４で示した直線運動の方向１９ｃに向かって多軸移動体１を一定速度Ｖに達するまで直線運動させた際に得られた駆動輪３a、３ｂから反力として検出されたトルクＴ3a1 １７、Ｔ3b1１８とそのときの駆動輪３の各速度ωから以下の式によって算出する。
(T3a1+T3b1)・cosθ = (M1+M2)・R2・dω/dt + M3・R2・dω/dt ・・・・・式（１）
ここで、M1:多軸移動体１の重量、M2:搭載物Ｗの重量、M3:駆動輪３の重量
R:駆動輪３の半径
式（１）から搭載物Ｗの重量Ｍ2を推定することができる。θは多軸移動体１と駆動輪３との角度であり、多軸移動体１に取り付けられた駆動輪３の数によって変化する。駆動輪が二輪の時はθ= 0、三輪の時はθ= 30°となる。 <Method for estimating the weight of the load>
Next, a method for estimating the weight of the load W will be described.
Torque T 3a1 17 detected as a reaction force from the drive wheels 3a and 3b obtained when the multiaxial moving body 1 is linearly moved in the linear motion direction 19c shown in FIG. , T 3b1 18 and each speed ω of the driving wheel 3 at that time are calculated by the following equations.
(T 3a1 + T 3b1 ) ・ cosθ = (M 1 + M 2 ) ・ R 2・ dω / dt + M 3・ R 2・ dω / dt (1)
Here, M 1: weight of the multi-axis moving body 1, M 2: weight of the mounted object W, M 3: the weight of the driving wheel 3
R: Radius of the drive wheel 3 The weight M 2 of the load W can be estimated from the equation (1). θ is an angle between the multi-axis moving body 1 and the driving wheel 3 and changes depending on the number of driving wheels 3 attached to the multi-axis moving body 1. When there are two drive wheels, θ = 0, and when there are three wheels, θ = 30 °.

同様に、方向１９ｂに向かって多軸移動体１を一定速度に達するまで直線運動させた場合も駆動輪３a、３ｃから検出されたトルクＴ3a2 ２３、Ｔ3c2２４を用いて式（１）から搭載物Ｗの重量を推定することができる。 Similarly, when the multi-axis moving body 1 is linearly moved in the direction 19b until reaching a constant speed, the torque T 3a2 23 and T 3c2 24 detected from the drive wheels 3a and 3c are used to obtain the equation (1). The weight of the load W can be estimated.

〈駆動輪のゲインの算出方法〉
次に、搭載物Ｗの推定重量を多軸移動体１の重心位置４上に載せて移動する場合の駆動輪３のゲインＧをあらかじめ算出する。
図４で示した直線運動の方向方向１９ｃに向かって多軸移動体１を一定速度に達するまで直線運動させたときに得られた駆動輪３a、３ｂのトルク比（Ｔ3a1：Ｔ3b1）と、図５で示した直線運動の方向１９ｂに向かって多軸移動体１を一定速度に達するまで直線運動させたときに得られた駆動輪３a、３ｃのトルク比（Ｔ3a2：Ｔ3c2）から、３個の駆動輪３a、３ｂ、３ｃのトルク比（Ｔ3a：Ｔ3b：Ｔ3c）を、式（２）により求める。

T3a: T3b: T3c = (T3a1 * T3a2):( T3b1 * T3a2):( T3c2 * T3a1) ・・・・式（２）

このトルク比（Ｔ3a：Ｔ3b：Ｔ3c）用いて、以下の式（３）、（４）、（５）によって各駆動輪３a、３ｂ、３ｃのゲインを修正する。
G3a = G ・T3a /(T3a + T3b + T3c) ・・・・・・式（３）
G3b = G ・T3b /(T3a + T3b + T3c) ・・・・・・式（４）
G3c = G ・T3c /(T3a + T3b + T3c) ・・・・・・式（５）
ここで、G3a ,G3b ,G3c：各駆動輪の補正後のゲイン、
G：搭載物Ｗの推定重量を重心位置４上で移動する時の駆動輪３のゲイン
である。
このようにして算出した補正後のゲインを、駆動輪３の速度制御、位置制御に使用する。 <Calculation method of drive wheel gain>
Next, the gain G of the driving wheel 3 when the estimated weight of the load W is moved on the center of gravity position 4 of the multi-axis moving body 1 is calculated in advance.
The torque ratio (T 3a1 : T 3b1 ) of the drive wheels 3a and 3b obtained when the multi-axis moving body 1 is linearly moved in the linear movement direction direction 19c shown in FIG. 4 until reaching a constant speed. From the torque ratio (T 3a2 : T 3c2 ) of the drive wheels 3a and 3c obtained when the multi-axis moving body 1 is linearly moved in the linear movement direction 19b shown in FIG. 5 until reaching a constant speed. The torque ratio (T 3a : T 3b : T 3c ) of the three drive wheels 3a, 3b, and 3c is obtained by the equation (2).

T 3a : T 3b : T 3c = (T 3a1 * T 3a2 ) :( T 3b1 * T 3a2 ) :( T 3c2 * T 3a1 ) ・ ・ ・ ・ Formula (2)

Using the torque ratio (T 3a : T 3b : T 3c ), the gains of the drive wheels 3a, 3b, and 3c are corrected by the following equations (3), (4), and (5).
G 3a = G • T 3a / (T 3a + T 3b + T 3c ) ・ ・ ・ ・ ・ ・ Equation (3)
G 3b = G · T 3b / (T 3a + T 3b + T 3c ) ··· Equation (4)
G 3c = G · T 3c / (T 3a + T 3b + T 3c ) ········· Equation (5)
Where G 3a , G 3b , G 3c : the corrected gain of each drive wheel,
G: The gain of the driving wheel 3 when the estimated weight of the load W is moved on the center of gravity position 4.
The corrected gain calculated in this way is used for speed control and position control of the drive wheels 3.

〈駆動輪のゲインの別の算出方法〉
次に、各駆動輪３の別の補正ゲイン算出方法について説明する。
図７は本発明の三輪式多軸移動体の別のゲイン補正方法のフローチャートである。図７におけるフローチャート４０は、まず、多軸移動体１上の搭載物Ｗの重量変化があったかどうかを判断し（９ｂ）、判断結果、変化がなければステップ１５ｂへ飛んでそのまま走行を続ける。また、判断結果、変化があればステップ４１へ移って回転運動をし、各駆動輪３ａ〜３ｃでの各トルク検出を行い（ステップ１１ｃ）、駆動輪３ａ〜３ｃ間のトルク比検出を行う（ステップ１２ｃ）。
次に搭載物Ｗの重量を推定し（ステップ４２）、これを制御パラメータとして演算し、各駆動輪３のゲイン補正を行った後（ステップ１４ｂ）、多軸移動体１を走行させる（ステップ１５ｂ）。 <Another method for calculating drive wheel gain>
Next, another correction gain calculation method for each drive wheel 3 will be described.
FIG. 7 is a flowchart of another gain correction method for the three-wheeled multi-axis moving body of the present invention. In the flowchart 40 in FIG. 7, first, it is determined whether or not there is a change in the weight of the load W on the multi-axis moving body 1 (9b). If there is a change as a result of the determination, the process moves to step 41 to perform a rotational motion, detect each torque in each drive wheel 3a-3c (step 11c), and detect a torque ratio between the drive wheels 3a-3c (step 11c). Step 12c).
Next, the weight of the load W is estimated (step 42), and this is calculated as a control parameter. After performing gain correction for each drive wheel 3 (step 14b), the multi-axis moving body 1 is caused to travel (step 15b). ).

次に、図７のフローチャート４０の手法の具体的なやり方を図８を用いて説明する。図８は本発明の三輪式多軸移動体の上面図で、三輪式多軸移動体１の駆動輪３aの位置を角度ゼロとする重心位置４を中心とした円周４２（点線）を示したものである。重心位置４を中心に１回転で一定角速度に達するまで多軸移動体１を回転運動する（図７のステップ４１）ように速度指令を与えると、駆動輪３a、３ｂ、３ｃのトルクＴ3a、Ｔ3b、Ｔ3cは、点線で示す円周４２上の重心位置７の位置によって図９のような線図が得られる。図９は本発明の三輪式多軸移動体における重心位置と各駆動輪のトルクの相関関係を示す線図である。図において、（ａ）は駆動輪３aのトルク変化、（ｂ）は駆動輪３ｂのトルク変化、（ｃ）は駆動輪３ｃのトルク変化をそれぞれ示している。
図に示すように、駆動輪３a、３ｂ、３ｃのトルクＴ3a、Ｔ3b、Ｔ3cは、円周４３上の重心位置７の位置によってそれぞれの位相が２/３πずれたサイン波を描き、各サイン波の振幅の大きさは、搭載物Ｗの重量に比例して増減する。
例えば、重心位置７が図８のように多軸移動体１の上の点線で示す円周上に置かれていた場合、駆動輪３aのトルク、駆動輪３ｂのトルク、駆動輪３ｃのトルクのそれぞれの大きさはそれぞれ図中の矢印４４、４５、４６の大きさとなる。
この各駆動輪のトルク大きさ４４、４５、４６の長さをトルク比（Ｔ3a：Ｔ3b：Ｔ3c）として用いて上記式（３）、（４）、（５）から各駆動輪のゲインを修正することができる。 Next, the specific method of the method of the flowchart 40 of FIG. 7 is demonstrated using FIG. FIG. 8 is a top view of the three-wheeled multi-axis moving body of the present invention, and shows a circumference 42 (dotted line) centered on the center of gravity 4 where the position of the drive wheel 3a of the three-wheeled multi-axis moving body 1 is zero. It is a thing. When a speed command is given to rotate the multi-axis moving body 1 around the center of gravity position 4 until a constant angular velocity is reached in one rotation (step 41 in FIG. 7), torque T 3a of the drive wheels 3a, 3b, 3c, T 3b and T 3c are obtained as shown in FIG. 9 depending on the position of the center of gravity position 7 on the circumference 42 indicated by dotted lines. FIG. 9 is a diagram showing the correlation between the position of the center of gravity and the torque of each drive wheel in the three-wheel multi-axis moving body of the present invention. In the figure, (a) shows the torque change of the drive wheel 3a, (b) shows the torque change of the drive wheel 3b, and (c) shows the torque change of the drive wheel 3c.
As shown in the figure, the torques T 3a , T 3b , T 3c of the drive wheels 3a, 3b, 3c draw sine waves whose phases are shifted by 2 / 3π depending on the position of the center of gravity position 7 on the circumference 43, The amplitude of each sine wave increases or decreases in proportion to the weight of the load W.
For example, when the center-of-gravity position 7 is placed on the circumference indicated by the dotted line on the multi-axis moving body 1 as shown in FIG. 8, the torque of the driving wheel 3a, the torque of the driving wheel 3b, and the torque of the driving wheel 3c. The respective sizes are the sizes of arrows 44, 45 and 46 in the figure.
Using the lengths of the torque magnitudes 44, 45, and 46 of the drive wheels as the torque ratio (T 3a : T 3b : T 3c ), the above formulas (3), (4), and (5) Gain can be corrected.

〈二輪式多軸移動体の場合の搭載物重量および重心位置の推定方法〉
次に、図１０のように多軸移動体１の駆動輪３が２輪の場合の搭載物重量および重心位置の推定方法について説明する。
〈二輪式多軸移動体の場合の重心位置の推定方法〉
まず、二輪式多軸移動体の場合の重心位置の推定方法について説明する。
図１０は本発明の二輪式多軸移動体の例で、（ａ）は上面図、（ｂ）は側面図、図１１は本発明の二輪式多軸移動体の上に搭載物を載せた時の上面図である。
図１０において、筐体２の互いの反対面に駆動輪３a、３ｂが設けられ、搭載物の無いときの重心位置は４となっている。また、筐体２には転倒防止のため補助輪４７が取り付けられている。
図１１のように多軸移動体１の上面に重量不明の搭載物Ｗを置くことで、多軸移動体１と搭載物Ｗを含む重心は、重心位置４から重心位置７へと移動する。 <Method of estimating the weight and center of gravity of the load in the case of a two-wheeled multi-axis moving body>
Next, a method for estimating the weight of the load and the center of gravity position when there are two drive wheels 3 of the multi-axis moving body 1 as shown in FIG. 10 will be described.
<Method of estimating the center of gravity for a two-wheeled multi-axis moving body>
First, a method for estimating the center of gravity in the case of a two-wheeled multi-axis moving body will be described.
FIG. 10 is an example of the two-wheeled multi-axis moving body of the present invention, (a) is a top view, (b) is a side view, and FIG. 11 is a mounted object on the two-wheeled multi-axis moving body of the present invention. It is a top view at the time.
In FIG. 10, drive wheels 3 a and 3 b are provided on opposite surfaces of the housing 2, and the center of gravity position when there is no mounted object is 4. In addition, an auxiliary wheel 47 is attached to the housing 2 to prevent it from falling.
As shown in FIG. 11, by placing the mounted object W of unknown weight on the upper surface of the multi-axis moving body 1, the center of gravity including the multi-axis moving body 1 and the mounted object W moves from the center of gravity position 4 to the center of gravity position 7.

図１２は本発明の二輪式多軸移動体における重心および重量推定方法とゲイン補正方法のフローチャートである。図１２に示すフローチャート４８は、まず、多軸移動体１上の搭載物Ｗの重量変化があったかどうかを判断し（ステップ９ｃ）、判断結果、変化がなければステップ１５ｃへ飛んでそのまま走行を続ける。
また、判断結果、変化があれば、ステップ１０ｃで直線運動をし、各駆動輪３ａ、３ｂでの各トルク検出を行い（ステップ１１ｄ）、駆動輪３ａ、３ｂ間のトルク比検出を行う（ステップ１２ｄ）。その後、ステップ１３ｃで搭載物Ｗの重量と重心位置を推定し、これを制御パラメータとして演算し、各駆動輪３ａ、３ｂのゲイン補正を行った後（ステップ１４ｃ）、多軸移動体１を走行させる（ステップ１５ｃ）。 FIG. 12 is a flowchart of the center-of-gravity and weight estimation method and gain correction method in the two-wheeled multi-axis moving body of the present invention. In the flowchart 48 shown in FIG. 12, first, it is determined whether or not the weight of the load W on the multi-axis moving body 1 has changed (step 9c), and if there is no change, the process jumps to step 15c and continues running. .
If there is a change as a result of the determination, a linear motion is performed at step 10c, each torque is detected at each drive wheel 3a, 3b (step 11d), and a torque ratio between the drive wheels 3a, 3b is detected (step). 12d). Thereafter, in step 13c, the weight and the center of gravity of the load W are estimated, calculated as control parameters, and after gain correction of each drive wheel 3a, 3b (step 14c), the multi-axis moving body 1 is traveled. (Step 15c).

フローチャート４８の手法の具体的なやり方を説明する。
図１３は本発明の二輪式多軸移動体に搭載物を載せた時の重心位置の求め方を説明する上面図である。図１３のように多軸移動体１を方向４９に向かって一定速度Ｖに達するまで直線運動させる（図１２の１０ｃ）と、重心位置７が重心位置４から偏心していることにより駆動輪３a、３ｂで検出されるトルクはそれぞれＴ3a3５０、Ｔ3b3 ５１となる。
駆動輪３a、３ｂの取り付け軸を結ぶ軸線５２を、直線運動１０ｃで得られたトルク比（Ｔ3a3：Ｔ3b3）で分割される箇所に重心位置７が存在すると推定できる。この場合、重心位置７はトルクＴ3b3５１による長さ５３と、トルクＴ3a3５０よる長さ５４で分割される分配線５５の上となる。 A specific method of the method of the flowchart 48 will be described.
FIG. 13 is a top view for explaining how to obtain the position of the center of gravity when a load is placed on the two-wheeled multi-axis moving body of the present invention. When the multi-axis moving body 1 is linearly moved in the direction 49 until reaching a constant speed V as shown in FIG. 13 (10c in FIG. 12), the center of gravity position 7 is decentered from the center of gravity position 4, thereby driving wheels 3a, each torque detected becomes T 3a3 50, T 3b3 51 in 3b.
Driving wheels 3a, the axis 52 connecting the mounting shaft of 3b, resulting torque ratio in linear motion 10c: the locations are split (T 3a3 T 3b3) can be estimated that the center of gravity position 7 is present. In this case, the center-of-gravity position 7 of the length 53 due to the torque T 3b3 51, the top of the distribution lines 55 divided by the torque T 3a3 50 by a length 54.

〈二輪式多軸移動体の場合の搭載物重量の推定方法〉
次に、二輪式多軸移動体の場合の搭載物重量の推定方法について説明する。
搭載物Ｗの重量は、式（６）からＭ2として推定することができる。
T3a +T3b = (M1+M2)・R2・dω/dt + M3・R2・dω/dt ・・・・・式（６）
ここで、M1:多軸移動体１の重量、M2:搭載物Ｗの重量、M3:駆動輪３の重量
R:駆動輪３の半径 <Method of estimating the weight of the load in the case of a two-wheeled multi-axis moving body>
Next, a method for estimating the weight of a load in the case of a two-wheeled multi-axis moving body will be described.
The weight of the load W can be estimated as M 2 from Equation (6).
T 3a + T 3b = (M 1 + M 2 ) ・ R 2・ dω / dt + M 3・ R 2・ dω / dt (6)
Here, M 1: weight of the multi-axis moving body 1, M 2: weight of the mounted object W, M 3: the weight of the driving wheel 3
R: radius of drive wheel 3

〈等速度運動による制御パラメータ決定方法〉
次に、多軸移動体１を等速度運動させた時に動摩擦係数を推定し、制御パラメータとして演算して前記多軸移動体を安定に走行制御させる方法について説明する。
多軸移動体１を等速度運動させた時、駆動輪３で検出されるトルクＴｍは式（７）のようになる。ここでは静摩擦係数は無視する。
Tm = μ・(M1+M2) ・g・r / S ・・・・・式（７）
ここで、μ:動摩擦係数、M1:多軸移動体１の重量、M2:搭載物Ｗの重量、
g：重力加速度、ｒ:駆動輪３の半径、S : 駆動輪３の数である。
式（７）から動摩擦係数μが推定される。制御パラメータとして演算して駆動輪３のゲイン調整に使用する。
ここで、G3a’= G3a・(T + Tm) /T ・・・・・・式（７）
G3b’= G3b・(T + Tm) /T ・・・・・・式（８）
G3c’= G3c・(T + Tm) /T ・・・・・・式（９）
ここで、G3a’, G3b’, G3c’：各駆動輪の補正後のゲイン
G3a, G3b, G3c：搭載物重量、重心位置推定後の修正した各駆動輪のゲイン
T：搭載物重量、重心位置推定後の速度指令におけるトルク値、である。 <Method for determining control parameters by constant velocity motion>
Next, a method for estimating the dynamic friction coefficient when the multi-axis moving body 1 is moved at a constant speed, calculating as a control parameter, and stably controlling the multi-axis moving body will be described.
When the multi-axis moving body 1 is moved at a constant speed, the torque Tm detected by the drive wheel 3 is as shown in Expression (7). Here, the coefficient of static friction is ignored.
Tm = μ · (M 1 + M 2 ) · g · r / S Equation (7)
Where μ: dynamic friction coefficient, M 1 : weight of the multi-axis moving body 1, M 2 : weight of the load W,
g: gravitational acceleration, r: radius of the driving wheel 3, and S: the number of the driving wheel 3.
The dynamic friction coefficient μ is estimated from the equation (7). It is calculated as a control parameter and used for gain adjustment of the drive wheel 3.
Where G 3a '= G 3a · (T + Tm) / T ·········································
G 3b '= G 3b (T + Tm) / T (8)
G 3c '= G 3c・ (T + Tm) / T ・ ・ ・ ・ ・ ・ Equation (9)
Where G 3a ', G 3b ', G 3c ': Gain after correction of each drive wheel
G 3a , G 3b , G 3c : Load gain, gain of each driving wheel corrected after estimating the center of gravity
T: The weight of the load, and the torque value in the speed command after estimating the center of gravity.

本発明の多軸移動体は、搭載物を多軸移動体上に搭載後、一定速度または一定各速度で移動させることで搭載物の重量、重心位置を推定し、自動的に制御パラメータを求めるため、任意の重量の搭載物を載せても制御の設定の手間が省け、多軸移動体の運用に利便性向上に期待できる。   The multi-axis moving body of the present invention estimates the weight and the center of gravity position of the load by moving the load on the multi-axis moving body at a constant speed or each constant speed, and automatically obtains control parameters. Therefore, it is possible to save the trouble of setting the control even when a load of an arbitrary weight is placed, and it can be expected to improve the convenience of operation of the multi-axis moving body.

本発明の三輪式多軸移動体の例で、（ａ）は上面図、（ｂ）は正面図である。It is an example of the three-wheeled multi-axis moving body of this invention, (a) is a top view, (b) is a front view. 本発明の三輪式多軸移動体の上に搭載物を載せた時の上面図である。It is a top view when a load is placed on the three-wheeled multi-axis moving body of the present invention. 本発明の三輪式多軸移動体の重心および重量推定方法とゲイン補正方法 のフローチャートである。3 is a flowchart of a center of gravity and weight estimation method and gain correction method for a three-wheeled multi-axis moving body of the present invention. 本発明の三輪式多軸移動体を直線走行させた時の上面図である。It is a top view when the three-wheeled multi-axis moving body of the present invention is linearly run. 本発明の三輪式多軸移動体を別の方向へ直線走行させた時の上面図である。It is a top view when the three-wheeled multi-axis moving body of the present invention is linearly traveled in another direction. 本発明の三輪式多軸移動体に搭載物を載せた時の重心位置の求め方を説明する上面図である。It is a top view explaining how to obtain the position of the center of gravity when a load is placed on the three-wheeled multi-axis moving body of the present invention. 本発明の三輪式多軸移動体のゲイン補正方法フローチャートである。It is a gain correction method flowchart of the three-wheeled multi-axis moving body of the present invention. 本発明の三輪式多軸移動体の上面図である。It is a top view of the three-wheeled multi-axis moving body of the present invention. 本発明の三輪式多軸移動体における重心位置と各駆動輪のトルクの相関関係を示す線図である。It is a diagram which shows the correlation of the gravity center position in the three-wheeled multi-axis moving body of this invention, and the torque of each driving wheel. 本発明の二輪式多軸移動体の例で、（ａ）は上面図、（ｂ）は側面図である。It is an example of the two-wheeled multi-axis moving body of this invention, (a) is a top view, (b) is a side view. 本発明の二輪式多軸移動体の上に搭載物を載せた時の上面図である。It is a top view when a load is placed on the two-wheeled multi-axis moving body of the present invention. 本発明の二輪式多軸移動体における重心および重量推定方法とゲイン補正方法のフローチャートである。It is a flowchart of the gravity center and weight estimation method and gain correction method in the two-wheeled multi-axis moving body of the present invention. 本発明の二輪式多軸移動体に搭載物を載せた時の重心位置の求め方を説明する上面図である。It is a top view explaining how to obtain the position of the center of gravity when a load is placed on the two-wheeled multi-axis moving body of the present invention.

符号の説明Explanation of symbols

１ 多軸移動体
２ 筐体
３a、３ｂ、３ｃ 駆動輪
４ 搭載物のないときの重心位置
７ 搭載物のあるときの重心位置
５ 駆動輪の外周にあって駆動輪の軸方向に回転できる車輪
４７ 補助輪
Ｗ 搭載物 DESCRIPTION OF SYMBOLS 1 Multi-axis moving body 2 Housing | casing 3a, 3b, 3c Drive wheel 4 Center-of-gravity position when there is no load 7 Position of center of gravity when there is a load 5 Wheel which exists in the outer periphery of a drive wheel and can rotate to the axial direction of a drive wheel 47 Auxiliary wheel W

Claims (5)

筐体の側面に前記筐体の重心回りに等角度で３つ以上の駆動輪を配置し、前記駆動輪と前記重心を結ぶ直線を軸として前記駆動輪を回転するようにした多軸移動体の前記各駆動輪を駆動する駆動装置の制御パラメータ決定装置において、
搭載物を搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置とがずれた状態で置き、
前記搭載物の搭載前の重心位置を通る駆動輪の軸に平行な方向に向かって前記平行な方向の両側に線対称に配置される２つの駆動輪を選択して駆動し、一定速度に到達するまで前記多軸移動体を直線運動させ、前記駆動された２つの駆動輪に発生するトルクを検出し該トルク比を求め、前記駆動された２つの駆動輪を結ぶ軸線を前記トルク比で分配した第１分配点を求め、
前記多軸移動体を前回とは異なる駆動輪でかつ前記選択した駆動輪と前記筐体の重心回りに１８０度離れた位置にない駆動輪を選択し、該選択した駆動輪の駆動軸と平行な方向に向かって一定速度に到達するまで前記多軸移動体を直線運動させて前回と同様にして第２分配点を求め、前記第１分配点と前記第２分配点とに基づいて前記搭載物の搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置との距離を推定し、
前記距離を前記制御パラメータとして演算することを特徴とする多軸移動体の各駆動装置の制御パラメータ決定装置。 A multi-axis moving body in which three or more driving wheels are arranged at equal angles around the center of gravity of the housing on the side surface of the housing, and the driving wheels are rotated about a straight line connecting the driving wheel and the center of gravity. In the control parameter determination device of the drive device that drives each of the drive wheels ,
Place the mounted object in a state where the center of gravity position of the multi-axis moving body after mounting and the position of the center of gravity of the multi-axis moving body before mounting are shifted,
Select and drive two drive wheels that are arranged symmetrically on both sides of the parallel direction toward the direction parallel to the axis of the drive wheel that passes through the center of gravity before the load is mounted, and reach a constant speed to is linear motion the polyaxial mobile to the sought driven two detecting a torque generated in the drive wheels the torque ratio, distribute axis connecting the two drive wheels which are the driven by the torque ratio Find the first distribution point
The multi-axis moving body is selected as a driving wheel different from the previous one, and the selected driving wheel and a driving wheel not located at a position 180 degrees around the center of gravity of the housing are selected and parallel to the driving axis of the selected driving wheel. The multi-axis moving body is linearly moved until reaching a constant speed in a certain direction to obtain a second distribution point in the same manner as the previous time, and the mounting is performed based on the first distribution point and the second distribution point. Estimating the distance between the center of gravity position of the multi-axis moving body after mounting an object and the position of the center of gravity of the multi-axis moving body before mounting ,
A control parameter determination device for each driving device of a multi-axis moving body, wherein the distance is calculated as the control parameter. 前記パラメータ決定装置によって決定された各駆動装置の制御パラメータを基に各駆動装置に最適なゲイン調整をすることを特徴とする請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置。 Control parameter determination unit of the parameter determination device polyaxial mobile respective driving device according to claim 1, characterized in that the optimum gain adjusted to the drive unit based on the control parameters of each drive unit determined by . 式（１）から前記搭載物の重量を推定することを特徴とする請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置。
(T 1 +T 2 )・cosθ = (M1+M2)・R2・dω/dt + M3・R2・dω/dt ・・・式（１）
ここで、T 1 ：一方の駆動輪の検出トルク、
T 2 ：他方の駆動輪の検出トルク、
θは多軸移動体と駆動輪との角度で、多軸移動体に取り付けられた駆動輪の数によって変化し、θ=（１８０−３６０／駆動輪数）／２、
M1:多軸移動体の重量、
M2:搭載物Ｗの重量、
ω：駆動輪の角速度、
M3:駆動輪の重量、
R:駆動輪の半径、である。 Control parameter determination device of each drive unit of the multi-axis moving body in accordance with claim 1, wherein the estimating the weight of the payload from the formula (1).
( T 1 + T 2 ) ・ cosθ = (M 1 + M 2 ) ・ R 2・ dω / dt + M 3・ R 2・ dω / dt (1)
Where T 1 is the detected torque of one drive wheel ,
T 2 : Detected torque of the other drive wheel ,
θ is an angle between the multi-axis moving body and the driving wheel, and varies depending on the number of driving wheels attached to the multi-axis moving body. θ = (180-360 / number of driving wheels) / 2
M 1 : Weight of multi-axis moving body,
M 2 : weight of the load W,
ω: angular velocity of the drive wheel,
M 3 : Drive wheel weight,
R: radius of the driving wheel. 前記搭載物を前記多軸移動体単体の重心位置に乗せて移動する場合に速度指令が与えられた駆動輪のゲインを予め算出し、
次ぎに前記多軸移動体上に搭載する場合に前記搭載物の搭載後における前記多軸移動体の重心位置と搭載前の前記多軸移動体単体の重心位置とをずれた状態で置き、
式（２）から駆動輪の前記トルク比を求め、式（３）〜（５）から各駆動輪のゲインを修正することを特徴とする請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置。
T3a: T3b: T3c = (T3a1 * T3a2):( T3b1 * T3a2):( T3c2 * T3a1) ・・・・・・式（２）
ここで、Ｔ３a、Ｔ３ｂ、Ｔ３ｃ ：駆動輪のトルク、
Ｔ３a１、Ｔ３ｂ１：一方向に直線運動させたときの駆動輪３a、３ｂのトルク、
Ｔ３a２、Ｔ３ｃ２：他の方向に直線運動させたときの駆動輪３a、３ｃのトルク、
G3a = G ・T3a /(T3a + T3b + T3c) ・・・・・・式（３）
G3b = G ・T3b /(T3a + T3b + T3c) ・・・・・・式（４）
G3c = G ・T3c /(T3a + T3b + T3c) ・・・・・・式（５）
ここで、G3a ,G3b ,G3c：各駆動輪の補正後のゲイン、
G：搭載物の推定重量を重心位置上で移動する時の駆動輪のゲイン When the mounted object moves on the position of the center of gravity of the multi-axis moving body, the gain of the driving wheel given a speed command is calculated in advance.
Next, when mounting on the multi-axis moving body, the center of gravity position of the multi-axis moving body after mounting the mounted object and the center of gravity position of the multi-axis moving body before mounting are shifted and placed.
Obtains the torque ratio of the driving wheels from Equation (2), Equation (3) to (5) from the drive of multi-axis moving body in accordance with claim 1, wherein modifying the gain of the drive wheels Control parameter determination device .
T 3a : T 3b : T 3c = (T 3a1 * T 3a2 ) :( T 3b1 * T 3a2 ) :( T 3c2 * T 3a1 ) ・ ・ ・ ・ ・ ・ Equation (2)
Here, T 3a , T 3b , T 3c : Driving wheel torque,
T 3a1 , T 3b1 : Torque of the drive wheels 3a, 3b when linearly moving in one direction,
T 3a2 , T 3c2 : Torque of the drive wheels 3a, 3c when linearly moving in other directions,
G 3a = G • T 3a / (T 3a + T 3b + T 3c ) ・ ・ ・ ・ ・ ・ Equation (3)
G 3b = G · T 3b / (T 3a + T 3b + T 3c ) ··· Equation (4)
G 3c = G · T 3c / (T 3a + T 3b + T 3c ) ········· Equation (5)
Where G 3a , G 3b , G 3c : the corrected gain of each drive wheel,
G: Gain of the drive wheel when moving the estimated weight of the load on the center of gravity 請求項１記載の多軸移動体の各駆動装置の制御パラメータ決定装置を備えたことを特徴とする多軸移動体装置。A multi-axis moving body device comprising the control parameter determining device for each driving device of the multi-axis moving body according to claim 1.
JP2007230705A 2007-09-05 2007-09-05 Control parameter determining device and multi-axis moving body device for each driving device of multi-axis moving body Expired - Fee Related JP4840301B2 (en)

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