JP5321681B2 - 移動方向制御装置及びコンピュータプログラム - Google Patents
移動方向制御装置及びコンピュータプログラム Download PDFInfo
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- JP5321681B2 JP5321681B2 JP2011504777A JP2011504777A JP5321681B2 JP 5321681 B2 JP5321681 B2 JP 5321681B2 JP 2011504777 A JP2011504777 A JP 2011504777A JP 2011504777 A JP2011504777 A JP 2011504777A JP 5321681 B2 JP5321681 B2 JP 5321681B2
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- 238000004590 computer program Methods 0.000 title claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 59
- 238000006243 chemical reaction Methods 0.000 claims abstract description 41
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000003068 static effect Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- DEFLNOSTNCSZRB-IDTAVKCVSA-N 9-[(2r,3r,4r,5r)-3,4-dimethoxy-5-(methoxymethyl)oxolan-2-yl]-n-methoxypurin-6-amine Chemical compound CO[C@@H]1[C@H](OC)[C@@H](COC)O[C@H]1N1C2=NC=NC(NOC)=C2N=C1 DEFLNOSTNCSZRB-IDTAVKCVSA-N 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B62K1/00—Unicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B62K17/00—Cycles not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/25—Other wheeled vehicles with moving figures
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/14—Vehicles with one wheel only
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/22—Yaw angle
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Description
=6.25×10-3(kgm2 ) ・・・ (式4)
=3.86×10-5(kgm2 ) ・・・ (式5)
=0.0125(N・m)/3.86×10-5(kgm2 )
=324(rad/s2 ) ・・・ (式6)
2 車輪
3 本体
35 制御基板
36 電池
71 ヨー用ジャイロセンサ(ヨー用角速度センサ)
72 ヨー用モータ
73 ヨー用エンコーダ(ヨー用回転センサ)
74 慣性ロータ(ロータ)
m 本体質量
M 慣性ロータ質量
J1 回転中心軸まわりの慣性ロータの慣性モーメント
J2 回転中心軸まわりの本体の慣性モーメント
Claims (6)
- 前後方向に回転して移動する車輪と、該車輪の回転軸に連結されて該車輪の上方でピッチ方向及びロール方向に揺動する本体とで構成され、
該本体に、
ヨー方向の回転角速度であるヨー角速度を検出するヨー用角速度センサと、
本体の略鉛直方向を回転中心軸としたロータと、
該ロータを回転させるヨー用モータと
を備え、
前記ロータの回転に伴う反動トルクに応じて前記本体のヨー方向の回転角を制御することを特徴とする移動方向制御装置。 - 移動方向の目標とする前記車輪のヨー角の指定を受け付けるヨー角指定受付部と、
摩擦トルクの大きさ及び方向を含む摩擦トルクに関する情報を取得する摩擦トルク情報取得手段と、
指定を受け付けたヨー角に基づいて、ヨー方向の回転角加速度を算出するヨー方向角加速度算出部と、
算出したヨー方向の回転角加速度に基づいて、反動トルクを算出する反動トルク算出手段と、
算出した反動トルクと取得した摩擦トルクに関する情報とに基づいて、前記ヨー用モータの動作指令を生成するヨー用モータ動作指令生成部と
を備えることを特徴とする請求項1記載の移動方向制御装置。 - 前記摩擦トルク情報取得手段は、
摩擦トルクの大きさ及び方向の指定を受け付ける摩擦トルク受付手段を備えることを特徴とする請求項2記載の移動方向制御装置。 - 前後方向に回転して移動する車輪と、該車輪の回転軸に連結されて該車輪の上方でピッチ方向及びロール方向に揺動する本体とで構成され、
該本体に、
ヨー方向の回転角速度であるヨー角速度を検出するヨー用角速度センサと、
本体の略鉛直方向を回転中心軸としたロータと、
該ロータを回転させるヨー用モータと
を備えた移動方向制御装置に搭載されているコンピュータで実行することが可能なコンピュータプログラムであって、
前記コンピュータを、
前記ロータの回転に伴う反動トルクに応じて前記本体のヨー方向の回転角を制御する手段
として機能させることを特徴とするコンピュータプログラム。 - 前記コンピュータを、
移動方向の目標とする前記車輪のヨー角の指定を受け付けるヨー角指定受付部、
摩擦トルクの大きさ及び方向を含む摩擦トルクに関する情報を取得する摩擦トルク情報取得手段、
指定を受け付けたヨー角に基づいて、ヨー方向の回転角加速度を算出するヨー方向角加速度算出部、
算出したヨー方向の回転角加速度に基づいて、反動トルクを算出する反動トルク算出手段、
算出した反動トルクと取得した摩擦トルクに関する情報とに基づいて、前記ヨー用モータの動作指令を生成するヨー用モータ動作指令生成部
として機能させることを特徴とする請求項4記載のコンピュータプログラム。 - 前記摩擦トルク情報取得手段を、摩擦トルクの大きさ及び方向の指定を受け付ける摩擦トルク受付手段として機能させることを特徴とする請求項5記載のコンピュータプログラム。
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JP2011504777A JP5321681B2 (ja) | 2009-03-16 | 2010-02-09 | 移動方向制御装置及びコンピュータプログラム |
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JP2009062177 | 2009-03-16 | ||
JP2009062177 | 2009-03-16 | ||
PCT/JP2010/051836 WO2010106847A1 (ja) | 2009-03-16 | 2010-02-09 | 移動方向制御装置及びコンピュータプログラム |
JP2011504777A JP5321681B2 (ja) | 2009-03-16 | 2010-02-09 | 移動方向制御装置及びコンピュータプログラム |
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JPWO2010106847A1 JPWO2010106847A1 (ja) | 2012-09-20 |
JP5321681B2 true JP5321681B2 (ja) | 2013-10-23 |
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US (1) | US9128488B2 (ja) |
EP (1) | EP2410396B1 (ja) |
JP (1) | JP5321681B2 (ja) |
KR (1) | KR101441887B1 (ja) |
CN (2) | CN102349032A (ja) |
WO (1) | WO2010106847A1 (ja) |
Families Citing this family (8)
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JP4743347B2 (ja) * | 2008-09-17 | 2011-08-10 | 株式会社村田製作所 | 転倒防止制御装置及びコンピュータプログラム |
WO2010106847A1 (ja) | 2009-03-16 | 2010-09-23 | 株式会社村田製作所 | 移動方向制御装置及びコンピュータプログラム |
US9959581B2 (en) | 2013-03-15 | 2018-05-01 | Eagle View Technologies, Inc. | Property management on a smartphone |
CN103253152A (zh) * | 2013-05-14 | 2013-08-21 | 杭州亿脑智能科技有限公司 | 平衡车电机扭矩确定方法 |
CN106828627A (zh) * | 2017-04-06 | 2017-06-13 | 桂林理工大学 | 惯性轮及自行车机器人 |
CN109828568B (zh) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | 对RoboCup比赛的NAO机器人寻球步态优化方法 |
CN109901581A (zh) * | 2019-03-15 | 2019-06-18 | 智久(厦门)机器人科技有限公司上海分公司 | 一种agv车自旋角的标定方法及自旋运动控制方法 |
CN111879323B (zh) * | 2020-06-29 | 2022-02-22 | 福建(泉州)哈工大工程技术研究院 | 一种基于前端融合的航向角计算方法 |
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JP2006001385A (ja) * | 2004-06-16 | 2006-01-05 | Sony Corp | 平行二輪車 |
JP2007161198A (ja) * | 2005-12-16 | 2007-06-28 | Sony Corp | 走行装置及びその制御方法 |
WO2008139740A1 (ja) * | 2007-05-16 | 2008-11-20 | Honda Motor Co., Ltd. | 全方向に移動可能な乗り物 |
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EP2410396A1 (en) | 2012-01-25 |
WO2010106847A1 (ja) | 2010-09-23 |
CN106406308A (zh) | 2017-02-15 |
EP2410396A4 (en) | 2013-06-05 |
KR20110110856A (ko) | 2011-10-07 |
US20120010783A1 (en) | 2012-01-12 |
US9128488B2 (en) | 2015-09-08 |
JPWO2010106847A1 (ja) | 2012-09-20 |
KR101441887B1 (ko) | 2014-09-19 |
EP2410396B1 (en) | 2014-09-10 |
CN102349032A (zh) | 2012-02-08 |
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