JP6167831B2 - Control method of moving body and inverted two-wheeled moving body - Google Patents

Description

  The present invention relates to a moving body control method and an inverted two-wheeled moving body.

  In recent years, an inverted two-wheeled moving body has been developed as a traveling device for carrying a human. For example, Patent Document 1 discloses an inverted two-wheel moving body having two wheels arranged coaxially and in which the two wheels are independently driven.

JP 2007-336785 A

Generally, the wheels of an inverted two-wheel moving body are rotated by a motor. In addition, a drive current generated from the power output from the battery is supplied to the motor.
However, when the temperature of the battery becomes low, there is a problem that the output voltage of the battery decreases. This problem can be solved by installing a battery having abundant capacity. However, since an inverted two-wheeled vehicle is required to be smaller and lighter, it may be difficult to mount a battery having a large capacity on the inverted two-wheeled vehicle.

  The present invention has been made to solve such a problem, and provides a control method of a moving body and an inverted two-wheeled moving body that can be reduced in size and weight and ensure more stable performance. It is intended to do.

  A method for controlling a moving body according to a first aspect of the present invention includes: a wheel; a motor that rotates the wheel; and a driving current for driving the motor from power of a battery, and driving the motor. And a plurality of control units that supply current. In addition, when the temperature of the battery is lower than a reference temperature, the control unit adds an oscillating current having a frequency higher than the frequency of the driving current and supplies the driving current to the motor. Further, the phase of the oscillating current added by one control unit to the driving current is opposite to the phase of the oscillating current added by one other control unit to the driving current.

According to the control method for a moving body according to the first aspect of the present invention, when the temperature of the battery is lower than the reference temperature, the control unit drives by adding an oscillating current having a frequency higher than the frequency of the drive current. Supply current to the motor. Therefore, the temperature of the battery can be raised by generating an oscillating current from the power of the battery. Thereby, the fall of the output voltage of a battery can be improved more quickly. In other words, the output voltage of the battery can be further stabilized without mounting an abundant battery. That is, it is possible to provide a method for controlling a moving body that can be reduced in size and weight and can ensure more stable performance.
Further, the phase of the oscillating current added by one control unit to the driving current is opposite to the phase of the oscillating current added by one other control unit to the driving current. As a result, even if one of the control units and the other one of the control units supply a drive current to which the vibration current is added to the motor, the vibration current generated by the one control unit and the other one of the controls The vibration currents generated by the parts cancel each other. Therefore, it is possible to reduce the influence of minute vibrations derived from the oscillating current generated by the plurality of control units to the passengers who have boarded the moving body.

  The inverted two-wheel moving body according to the second aspect of the present invention is configured to drive two motors that are coaxially disposed, two motors that respectively rotate the two wheels, and power from a battery, respectively. A plurality of control units that generate the drive current and supply the drive current to the motor. In addition, when the temperature of the battery is lower than a reference temperature, the control unit adds an oscillating current having a frequency higher than the frequency of the driving current and supplies the driving current to the motor. Further, the phase of the oscillating current added by one control unit to the driving current is opposite to the phase of the oscillating current added by one other control unit to the driving current.

According to the inverted two-wheeled mobile body according to the second aspect of the present invention, when the battery temperature is lower than the reference temperature, the control unit adds the oscillating current having a frequency higher than the frequency of the driving current to add the driving current. Is supplied to the motor. Therefore, the temperature of the battery can be raised by generating an oscillating current from the power of the battery. Thereby, the fall of the output voltage of a battery can be improved more quickly. In other words, the output voltage of the battery can be further stabilized without mounting an abundant battery. That is, it is possible to provide an inverted two-wheeled mobile body that can be reduced in size and weight and can ensure more stable performance.
Further, the phase of the oscillating current added by one control unit to the driving current is opposite to the phase of the oscillating current added by one other control unit to the driving current. As a result, even if one of the control units and the other one of the control units supply a drive current to which the vibration current is added to the motor, the vibration current generated by the one control unit and the other one of the controls The vibration currents generated by the parts cancel each other. Therefore, it is possible to reduce the influence of minute vibrations derived from the oscillating currents generated by the plurality of control units to the passenger who has boarded the inverted two-wheeled vehicle.

  It is possible to provide a moving body control method and an inverted two-wheel moving body that can be reduced in size and weight and can ensure more stable performance.

It is a perspective view which shows schematic structure of the inverted two-wheel mobile body concerning Embodiment 1 of this invention. It is a block diagram which shows the structure of the control apparatus concerning Embodiment 1 of this invention. It is a conceptual diagram of the motor control concerning Embodiment 1 of this invention. It is a schematic diagram which shows the drive current and oscillation current concerning Embodiment 1 of this invention. It is a flowchart explaining the control method of the inverted two-wheel mobile body concerning Embodiment 1 of this invention. It is a conceptual diagram of the motor control concerning Embodiment 2 of this invention. It is a schematic diagram which shows the drive current and vibration current concerning Embodiment 2 of this invention.

Embodiment 1
Embodiment 1 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 two-wheeled moving body (moving body) 100 according to the first embodiment of the present invention. As shown in FIG. 1, the inverted two-wheel moving body 100 includes two wheels 1, a step plate 2, a control device 3 (described later), and the like arranged coaxially.

FIG. 2 is a block diagram showing a configuration of the control device 3 of the inverted two-wheeled moving body 100 according to the first embodiment of the present invention.
As shown in FIG. 2, the control device 3 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputer”), DCDC converter (hereinafter also referred to as “DCDC”) 13 and 14, batteries 15 and 16, and inverters 17 to 17. 20, relay circuits (hereinafter also referred to as “relays”) 21 to 24, motors 25 and 26, rotation angle sensors 27 to 30, attitude angle sensors 31 and 32, load sensors 33 and 34, and the like.

  The control device 3 also includes a control system for the 0 system (hereinafter also referred to as “0 system”) and a control system for the 1 system (hereinafter referred to as “1 system” in order to ensure the stability of the control of the inverted two-wheeled vehicle 100. "It is also called"). The 0 system includes a microcomputer 11, a DCDC converter 13, a battery 15, inverters 17 and 18, relays 21 and 22, rotation angle sensors 27 and 28, a posture angle sensor 31, and a load sensor 33. The first system includes a microcomputer 12, a DCDC converter 14, a battery 16, inverters 19 and 20, relays 23 and 24, rotation angle sensors 29 and 30, an attitude angle sensor 32, and a load sensor 34.

Then, the posture angle sensors 31 and 32 provided in the control device 3 detect the posture angle of the inverted two-wheeled mobile body 100 when the passenger applies a load in the front-rear direction of the inverted two-wheeled mobile body 100. Based on the detection result, the control device 3 controls the motors 25 and 26 that drive the left and right wheels 1 so as to maintain the inverted two-wheeled vehicle 100 in the inverted state.
Specifically, when the passenger applies a load forward and tilts the inverted two-wheel moving body 100 forward, the control device 3 causes the left and right wheels 1 to maintain the inverted state of the inverted two-wheel moving body 100. The motors 25 and 26 for driving are controlled. Thereby, the inverted two-wheeled mobile body 100 accelerates forward.
In addition, when the passenger applies a load to the rear and tilts the inverted two-wheeled moving body 100 backward, the control device 3 drives the left and right wheels 1 so that the inverted two-wheeled moving body 100 is maintained in an inverted state. The motors 25 and 26 are controlled. Thereby, the inverted two-wheeled mobile body 100 accelerates backward.

Each of the microcomputers 11 and 12 is, for example, an ECU (Engine Control Unit) or the like, and includes a CPU (Central Processing Unit) and a storage unit. And the processing in each of the microcomputers 11 and 12 is implement | achieved when CPU runs the program stored in the memory | storage part.
Moreover, the program stored in each memory | storage part of the microcomputers 11 and 12 contains the code | cord | chord for implement | achieving the process in each of the microcomputers 11 and 12 by being performed by CPU. The storage unit includes, for example, an arbitrary storage device that can store this program and various types of information used for processing in the microcomputers 11 and 12. The storage device is, for example, a memory.

Specifically, the microcomputer 11 outputs a command value for controlling the motor 25 to the inverter 17. Further, the microcomputer 11 outputs a command value for controlling the motor 26 to the inverter 18.
The microcomputer 12 outputs a command value for controlling the motor 25 to the inverter 19. Further, the microcomputer 12 outputs a command value for controlling the motor 26 to the inverter 20.

Here, the microcomputer 11 generates a command value to be output to the inverter 17 so as to feedback control the motor 25 based on the rotation angle signal output from the rotation angle sensor 27 and indicating the rotation angle of the motor 25. Further, the microcomputer 11 generates a command value to be output to the inverter 18 so as to feedback control the motor 26 based on the rotation angle signal output from the rotation angle sensor 28 and indicating the rotation angle of the motor 26.
Similarly, the microcomputer 12 generates a command value to be output to the inverter 19 so as to feedback control the motor 25 based on the rotation angle signal output from the rotation angle sensor 29 and indicating the rotation angle of the motor 25. Further, the microcomputer 12 generates a command value to be output to the inverter 20 so as to feedback control the motor 26 based on the rotation angle signal output from the rotation angle sensor 30 and indicating the rotation angle of the motor 26.

  The microcomputer 11 operates based on power supplied from the DCDC 13. In addition, the microcomputer 12 operates based on the power supplied from the DCDC 14.

The DCDC 13 transforms the voltage in the power supplied from the battery 15 into a voltage suitable for supply to the microcomputer 11 and supplies the power to the microcomputer 11.
The DCDC 14 transforms the voltage in the electric power supplied from the battery 16 into a voltage suitable for supply to the microcomputer 12 and supplies the electric power to the microcomputer 12.

  The batteries 15 and 16 supply power necessary for the operation to the control device 3. Specifically, the battery 15 supplies power necessary for the operation of the microcomputer 11 to the DCDC 13. The battery 16 supplies power necessary for the operation of the microcomputer 12 to the DCDC 14.

The inverter 17 performs PWM (Pulse Width Modulation) control based on the command value output from the microcomputer 11. Thereby, the inverter 17 generates a drive current for driving the motor 25 from the electric power supplied from the battery 15. The inverter 17 supplies the drive current to the motor 25 via the relay 21.
The inverter 18 performs PWM control based on the command value output from the microcomputer 11. Thereby, the inverter 18 generates a drive current for driving the motor 26 from the electric power supplied from the battery 15. The inverter 18 supplies the drive current to the motor 26 via the relay 22.
The inverter 19 performs PWM control based on the command value output from the microcomputer 12. Thereby, the inverter 19 generates a drive current for driving the motor 25 from the electric power supplied from the battery 16. The inverter 19 supplies the drive current to the motor 25 via the relay 23.
The inverter 20 performs PWM control based on the command value output from the microcomputer 12. Thereby, the inverter 20 generates a drive current for driving the motor 26 from the electric power supplied from the battery 16. The inverter 20 supplies the drive current to the motor 26 via the relay 24.

The relay 21 separates the inverter 17 and the motor 25 in accordance with the control from the microcomputer 11 that is performed in response to the failure detection of the 0 system component by the microcomputer 11.
The relay 22 separates the inverter 18 and the motor 26 in accordance with the control from the microcomputer 11 that is performed in response to the failure detection of the 0 system component by the microcomputer 11.
The relay 23 separates the inverter 19 and the motor 25 in accordance with control from the microcomputer 12 that is performed in response to the failure detection of the one-system component by the microcomputer 12.
The relay 24 separates the inverter 20 and the motor 26 in accordance with the control from the microcomputer 12 that is performed in response to the failure detection of the one-system component by the microcomputer 12.
Thus, by separating the malfunctioning control system from the motors 25 and 26, erroneous control is prevented and safety in control is ensured.

The microcomputer 11, the inverters 17 and 18, and the relays 21 and 22 constitute the control unit 4 according to the first embodiment. Similarly, the microcomputer 12, the inverters 19 and 20, and the relays 23 and 24 constitute the control unit 5 according to the first embodiment.
Further, as described above, the control unit 4 generates a drive current for driving the motors 25 and 26 from the electric power of the battery 15 and supplies the drive current to the motors 25 and 26. Similarly, the control unit 5 generates a drive current for driving the motors 25 and 26 from the electric power of the battery 16 and supplies the drive current to the motors 25 and 26.

FIG. 3 is a conceptual diagram of motor control according to the first embodiment. As shown in FIGS. 2 and 3, each of the motors 25 and 26 is a double-winding motor. In other words, the motor 25 includes two motor coils 251 and 252. Similarly, the motor 26 includes two motor coils 261 and 262.
The motor 25 is driven by the drive current supplied from the control unit 4 and the drive current supplied from the control unit 5. Specifically, as shown in FIG. 2, the motor 25 is driven by a drive current supplied from the inverter 17 via the relay 21 and a drive current supplied from the inverter 19 via the relay 23. Then, by driving the motor 25, the wheel 1 on the left side (left side in FIG. 3) of the inverted two-wheel moving body 100 rotates.
Similarly, the motor 26 is driven by the drive current supplied from the control unit 4 and the drive current supplied from the control unit 5. Specifically, the motor 26 is driven by a drive current supplied from the inverter 18 via the relay 22 and a drive current supplied from the inverter 20 via the relay 24. Then, by driving the motor 26, the wheel 1 on the right side (right side in FIG. 3) of the inverted two-wheel moving body 100 rotates.

  The rotation angle sensor 27 detects the rotation angle of the motor 25, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 28 detects the rotation angle of the motor 26, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 29 detects the rotation angle of the motor 25, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12. The rotation angle sensor 30 detects the rotation angle of the motor 26, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12.

  The posture angle sensors 31 and 32 include, for example, an acceleration sensor, a gyro sensor, and the like. Then, the attitude angle sensor 31 detects an attitude angle with respect to the front-rear direction of the inverted two-wheeled moving body 100 and outputs an attitude angle signal indicating the detected attitude angle to the microcomputer 11. Similarly, the posture angle sensor 32 detects a posture angle with respect to the front-rear direction of the inverted two-wheeled mobile body 100 and outputs a posture angle signal indicating the detected posture angle to the microcomputer 12.

  The load sensor 33 detects a load from the passenger acting on the step plate 2 and outputs a load signal indicating the detected load to the microcomputer 11. Similarly, the load sensor 34 detects the load from the passenger acting on the step plate 2, and outputs a load signal indicating the detected load to the microcomputer 12.

Further, when the temperature of the battery 15 is lower than the reference temperature, the control unit 4 adds an oscillating current having a frequency higher than the frequency of the driving current and supplies the driving current to the motors 25 and 26. Similarly, when the temperature of the battery 16 is lower than the reference temperature, the controller 5 adds an oscillating current having a frequency higher than the frequency of the driving current and supplies the driving current to the motors 25 and 26.
Thereby, when the temperature of the batteries 15 and 16 is lower than the reference temperature (at a low temperature), the temperature of the batteries 15 and 16 can be increased.
The batteries 15 and 16 are provided with thermometers (not shown) for measuring the temperatures of the batteries 15 and 16. And the microcomputer 11 acquires the information regarding the temperature of the battery 15 from the said thermometer. Similarly, the microcomputer 12 acquires information related to the temperature of the battery 16 from the thermometer.

FIG. 4 shows drive currents and vibration currents supplied to the motors 25 and 26 according to the first embodiment. Specifically, FIG. 4 shows temporal changes in the current values of the drive current and the oscillating current supplied to the motors 25 and 26.
In addition, on the upper side of FIG. 4, the driving current generated by the 0-system control unit 4 from the power output from the battery 15, the oscillating current, and the driving current to which the oscillating current is added are shown. In addition, a driving current generated by the 1-system control unit 5 from the electric power output from the battery 16, an oscillating current, and a driving current to which the oscillating current is added are shown on the lower side of FIG. 4. The right side of FIG. 4 shows a supply current obtained by adding the drive current to which the oscillating current generated by the control unit 4 is added and the drive current to which the oscillating current generated by the control unit 5 is added.

As shown in FIG. 4, the waveform of the drive current generated by the control unit 4 and the control unit 5 has a sine wave shape having a predetermined amplitude and a predetermined frequency. The control units 4 and 5 determine the amplitude and frequency of the drive current according to the torque and the like that the motors 25 and 26 should apply to the wheel 1.
On the other hand, the waveform of the oscillating current generated by the control unit 4 and the control unit 5 is a waveform having a frequency higher than the frequency of the drive current generated by the control unit 4 and the control unit 5. In other words, the waveform of the oscillating current is a waveform that vibrates more finely than the waveform of the driving current. The waveform of the oscillating current need not be a sine wave like the drive current. The control units 4 and 5 determine the amplitude and frequency of the oscillating current based on how many times the temperature of the batteries 15 and 16 is increased.

The phase of the oscillating current added to the drive current by the control unit 4 is opposite to the phase of the oscillating current added to the drive current by the control unit 5. In other words, the phase of the oscillating current generated by the control unit 4 and the phase of the oscillating current generated by the control unit 5 are reversed.
Thus, when the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 are added together, they cancel each other.
Therefore, it is possible to reduce the influence of minute vibration derived from the oscillating current generated by the control unit 4 and the control unit 5 on the passenger who has boarded the inverted two-wheeled vehicle 100.

Further, the magnitude of the amplitude of the oscillating current generated by the control unit 4 and the magnitude of the amplitude of the oscillating current generated by the control unit 5 are the vibration current generated by the control unit 4 and the vibration current generated by the control unit 5. It is set so that the amplitude of the current obtained by adding together becomes a predetermined value or less. Specifically, in the first embodiment, the control unit is configured such that the amplitude of the current obtained by adding the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 is substantially zero. The amplitude of the oscillating current generated by 4 and the amplitude of the oscillating current generated by the control unit 5 are set. In other words, in the first embodiment, the amplitude of the oscillating current generated by the control unit 4 and the amplitude of the oscillating current generated by the control unit 5 are substantially equal.
Thereby, it can prevent more reliably that the fine vibration derived from the oscillating current which the control part 4 and the control part 5 produce | generate is transmitted to the passenger who boarded the inverted two-wheeled mobile body 100. FIG.
The amplitude of the current obtained by adding the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 is a range in which the minute vibration transmitted to the passenger does not cause a problem in the function of the inverted two-wheeled mobile body 100. If it is. In other words, the predetermined value may be a value within a range in which the slight vibration derived from the oscillating current generated by the control unit 4 and the control unit 5 does not cause a problem in terms of the function of the inverted two-wheel mobile body 100.

  As shown in FIG. 4, the waveform of the supply current obtained by adding the drive current to which the oscillating current generated by the control unit 4 is added and the drive current to which the oscillating current generated by the control unit 5 is added. Is a waveform that is substantially unaffected by the oscillating current generated by the control unit 4 and the control unit 5. In other words, the waveform of the supply current is a sine wave having an amplitude obtained by adding the amplitude of the drive current generated by the control unit 4 and the amplitude of the drive current generated by the control unit 5. Here, in the first embodiment, the amplitude of the drive current generated by the control unit 4 and the amplitude of the drive current generated by the control unit 5 are substantially equal. For this reason, the amplitude of the supply current is approximately twice the amplitude of the drive current generated by the control unit 4 and the control unit 5.

Thus, during operation in the dual system, the motors 25 and 26 can be driven by supplying drive currents from the two control systems. Therefore, it is possible to drive the wheels 1 of the inverted two-wheel moving body 100 from the motors 25 and 26 by applying a relatively large torque.
On the other hand, when one control system is degenerated and operated in a single system, the motors 25 and 26 are driven by supplying a drive current from only one control system. Therefore, the motors 25 and 26 are driven with half the torque as compared with the operation in the duplex system.

  Further, when the temperature of the batteries 15 and 16 is lower than the reference temperature (at a low temperature), the voltage of the electric power supplied from the batteries 15 and 16 to the control device 3 is lowered. Therefore, the amplitude of the drive current generated from the power output from the batteries 15 and 16 at low temperatures is output from the batteries 15 and 16 when the temperature of the batteries 15 and 16 is equal to or higher than the reference temperature (during normal operation). The amplitude is set to be smaller than the drive current generated from the electric power. Note that an oscillating current is generated from the electric power output from the batteries 15 and 16 at a low temperature, but the amplitude of the oscillating current is very small compared to the amplitude of the driving current, so The influence on the consumption of the output power is very small.

Next, a method for controlling the inverted two-wheeled vehicle 100 according to the first embodiment will be described. Specifically, in the control method of the inverted two-wheel moving body 100, a process of supplying drive current to the motors 25 and 26 will be described with reference to the flowchart of FIG.
The 1-system control method (steps S201 to S205) is the same as the 0-system control method (steps S101 to S105), and thus the description thereof is omitted.

  First, the microcomputer 11 generates a motor 25 based on the attitude angle signal input from the attitude angle sensor 31, the load signal input from the load sensor 33, and the rotation angle signals input from the rotation angle sensors 27 and 28. A command value for controlling 26 is calculated (step S101). When the microcomputer 11 inputs the command value to the inverters 17 and 18, the inverters 17 and 18 generate drive currents for driving the motors 25 and 26 from the power supplied from the battery 15.

Next, the microcomputer 11 acquires information about the temperature of the battery 15 (step S102). The battery 15 is provided with a thermometer (not shown) for measuring the temperature of the battery 15. And the microcomputer 11 acquires the information regarding the temperature of the battery 15 from the said thermometer.
In addition, the order of the process of step S101 and the process of step S102 may be reversed, and the two processes may be performed simultaneously. The control method of the inverted two-wheel moving body 100 according to the present invention can achieve the effect regardless of the order in which the two processes are performed.

Next, the microcomputer 11 determines whether or not the temperature of the battery 15 is equal to or higher than the reference temperature (step S103).
In step S103, when the temperature of the battery 15 is equal to or higher than the reference temperature (step S103; Yes), the process proceeds to step S106.
In step S103, when the temperature of the battery 15 is lower than the reference temperature (step S103; No), the microcomputer 11 refers to a parameter (vibration parameter) necessary for generating an oscillating current (step S104). Here, the vibration parameter is, for example, data in which the temperature of the battery 15, the amplitude of the vibration current, and the frequency of the vibration current are associated with each other. The microcomputer 11 can obtain the amplitude and frequency of the oscillating current by referring to the vibration parameter based on the temperature of the battery 15. Further, the microcomputer 11 calculates a command value for generating the oscillating current based on the acquired amplitude and frequency of the oscillating current. When the microcomputer 11 inputs the command value to the inverters 17 and 18, the inverters 17 and 18 generate an oscillating current from the electric power supplied from the battery 15.

  Next, the inverters 17 and 18 add an oscillating current to the drive current (step S105).

Next, the inverter 17 supplies the drive current to which the oscillating current is added to the motor 25 (motor coil 251) (step S106). In step S103, when the temperature of the battery 15 is equal to or higher than the reference temperature (step S103; Yes), in step S106, the inverter 17 supplies the drive current to which no oscillating current is added to the motor 25 (motor coil). 251).
Similarly, the inverter 18 supplies the drive current added with the oscillating current to the motor 26 (motor coil 261) (step S106). In step S103, when the temperature of the battery 15 is equal to or higher than the reference temperature (step S103; Yes), in step S106, the inverter 18 supplies the drive current to which the oscillating current is not added to the motor 26 (motor coil). 261).

In step S203, when the temperature of the battery 16 is lower than the reference temperature (step S203; No), in step S206, the inverter 19 supplies the drive current to which the oscillating current is added to the motor 25 (motor coil 252). To supply.
Similarly, in step S203, when the temperature of the battery 16 is lower than the reference temperature (step S203; No), in step S206, the inverter 20 converts the drive current to which the oscillating current is added to the motor 26 (motor coil 262). ).

The phase of the oscillating current generated by the inverter 17 is opposite to the phase of the oscillating current generated by the inverter 19. Therefore, when the drive current to which the oscillating current is added is supplied from the inverters 17 and 19 to the motor 25, the oscillating current generated by the inverter 17 and the oscillating current generated by the inverter 19 cancel each other. As a result, it is possible to reduce the influence of minute vibration derived from the oscillating current generated by the inverters 17 and 19 on the passenger who has boarded the inverted two-wheeled vehicle 100.
Similarly, the phase of the oscillating current generated by the inverter 18 is opposite to the phase of the oscillating current generated by the inverter 20. Therefore, when the drive current to which the oscillating current is added is supplied from the inverters 18 and 20 to the motor 26, the oscillating current generated by the inverter 18 and the oscillating current generated by the inverter 20 cancel each other. As a result, it is possible to reduce the influence of minute vibration derived from the oscillating current generated by the inverters 18 and 20 being transmitted to the passenger who has boarded the inverted two-wheeled vehicle 100.

Note that there is a slight difference between the temperature of the 0-system battery 15 and the temperature of the 1-system battery 16, or synchronization is established between the 0-system control unit 4 and the 1-system control unit 5. If not, the vibration current generated by the control unit 4 and the vibration current generated by the control unit 5 may not cancel each other. Thereby, the slight vibration derived from the oscillating current generated by the control unit 4 and the control unit 5 may be transmitted to the passenger of the inverted two-wheeled vehicle 100. However, the amplitude of the oscillating current is usually very small compared to the amplitude of the driving current. In addition, there is almost no temperature difference between the battery 15 and the battery 16 due to the structure and function of the inverted two-wheel moving body 100. For this reason, the slight vibration derived from the oscillating current is normally not problematic in terms of the function of the inverted two-wheeled moving body 100.
In addition, when there is a slight difference between the temperature of the 0-system battery 15 and the temperature of the 1-system battery 16, synchronization is established between the 0-system control unit 4 and the 1-system control unit 5. If not, the control unit 4 and the control unit 5 communicate with each other, so that the amplitude and frequency of the oscillating current generated by one of the control units 4 and 5 become the amplitude of the oscillating current generated by the other control unit 4 and 5. The frequency may be matched. Thereby, the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 cancel each other out reliably.

  Further, although the first embodiment has been described by exemplifying the control device 3 that is a dual system in which a 0-system control system and a 1-system control system are duplexed, You may apply to the mobile body which has a control system. In the first embodiment, the oscillating current generated by the 0-system control unit 4 and the 1-system oscillating current cancel each other, so that the slight vibration derived from the oscillating current is transmitted to the occupant of the inverted two-wheeled vehicle 100. Can be prevented. On the other hand, when the present invention is applied to a moving body having one control system, there is a possibility that a slight vibration derived from the oscillating current is transmitted to the passenger of the moving body. However, the amplitude of the oscillating current is usually very small compared to the amplitude of the drive current. For this reason, the slight vibration derived from the oscillating current is usually not problematic in terms of the function of the moving body.

  Further, in the first embodiment, since the vibration current generated by the 0-system control unit 4 and the 1-system vibration current cancel each other, the increase in the temperature of the batteries 15 and 16 is large, that is, the control unit 4. Even when the vibration amount of the minute vibration derived from the vibration current generated by 5 is large, it is possible to prevent the minute vibration from being transmitted to the passenger of the inverted two-wheel moving body 100.

  According to the control method for the inverted two-wheel mobile body 100 and the inverted two-wheel mobile body 100 according to the first embodiment of the present invention described above, the control units 4 and 5 are configured such that the temperatures of the batteries 15 and 16 are lower than the reference temperature. In this case, an oscillating current having a frequency higher than the frequency of the driving current is added to supply the driving current to the motors 25 and 26. Therefore, the temperature of the batteries 15 and 16 can be raised by generating an oscillating current from the electric power of the batteries 15 and 16. Thereby, the fall of the output voltage of the batteries 15 and 16 can be improved more quickly. In other words, the output voltages of the batteries 15 and 16 can be further stabilized without installing abundant batteries. That is, the inverted two-wheeled mobile body 100 can be reduced in size and weight, and more stable performance can be ensured.

  The phase of the oscillating current generated by the control unit 4 is opposite to the phase of the oscillating current generated by the control unit 5. Thereby, even if the control unit 4 and the control unit 5 supply the drive current to which the oscillating current is added to the motors 25 and 26, the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 cancel each other. Fit. Therefore, it is possible to reduce the influence of minute vibration derived from the oscillating current generated by the control unit 4 and the control unit 5 on the passenger who has boarded the inverted two-wheeled vehicle 100.

Further, the magnitude of the amplitude of the oscillating current generated by the control unit 4 and the magnitude of the amplitude of the oscillating current generated by the control unit 5 are the vibration current generated by the control unit 4 and the vibration current generated by the control unit 5. It is set so that the amplitude of the current obtained by adding together becomes a predetermined value or less. Specifically, in the first embodiment, the control unit is configured such that the amplitude of the current obtained by adding the oscillating current generated by the control unit 4 and the oscillating current generated by the control unit 5 is substantially zero. The amplitude of the oscillating current generated by 4 and the amplitude of the oscillating current generated by the control unit 5 are set.
Thereby, it can prevent more reliably that the fine vibration derived from the oscillating current which the control part 4 and the control part 5 produce | generate is transmitted to the passenger who boarded the inverted two-wheeled mobile body 100. FIG.

Embodiment 2. FIG.
In the inverted two-wheeled vehicle according to the second embodiment of the present invention, the control device 3 is a triple system of a 0 system control system, a 1 system control system, and a 2 system control system, The control device 3 is different from the inverted two-wheel moving body 100 according to the first embodiment in that the control device 3 includes a battery 35 in addition to the batteries 15 and 16 and the motors 25 and 26 are triple-winding motors. Therefore, about the same structure, while attaching the same code | symbol, the description is abbreviate | omitted.

  FIG. 6 is a conceptual diagram of motor control according to the second embodiment. As shown in FIG. 6, the control device 3 for an inverted two-wheeled mobile body according to the second embodiment is a triple system of a 0-system control system, a 1-system control system, and a 2-system control system. Yes. The 0-system control system, the 1-system control system, and the 2-system control system have the same configurations as the 0-system control system and the 1-system control system according to the first embodiment. Further, as shown in FIG. 6, the second control system includes a control unit 6 and a battery 35. The battery 35 supplies power to the control unit 6.

  Further, as shown in FIG. 6, the motors 25 and 26 are triple-winding motors, respectively. In other words, the motor 25 includes two motor coils 251, 252 and 253. Similarly, the motor 26 includes two motor coils 261, 262, and 263.

Then, as shown in FIG. 6, the control unit 4 generates a drive current for driving the motors 25 and 26 from the electric power output from the battery 15. Further, the control unit 4 generates an oscillating current from the electric power output from the battery 15. Then, the control unit 4 supplies the drive current to which the drive current or the vibration current is added to the motor coil 251 of the motor 25 and the motor coil 261 of the motor 26.
Similarly, the control unit 5 generates a drive current for driving the motors 25 and 26 from the electric power output from the battery 16. Further, the control unit 5 generates an oscillating current from the electric power output from the battery 16. Then, the control unit 5 supplies the drive current to which the drive current or vibration current is added to the motor coil 252 of the motor 25 and the motor coil 262 of the motor 26.
Similarly, the control unit 6 generates a drive current for driving the motors 25 and 26 from the electric power output from the battery 35. Further, the control unit 6 generates an oscillating current from the electric power output from the battery 35. Then, the control unit 6 supplies the drive current to which the drive current or the vibration current is added to the motor coil 253 of the motor 25 and the motor coil 263 of the motor 26.
Note that the control units 4, 5, and 6 generate an oscillating current when the temperature of the batteries 15, 16, and 35 is lower than the reference temperature, and supply the driving current with the oscillating current added to the motors 25 and 26.

FIG. 7 shows drive currents and vibration currents supplied to the motors 25 and 26 according to the second embodiment. Specifically, FIG. 7 shows temporal changes in the current values of the drive current and the oscillating current supplied to the motors 25 and 26.
Further, on the upper side of FIG. 7, the driving current generated by the 0-system control unit 4 from the power output from the battery 15, the oscillating current, and the driving current to which the oscillating current is added are shown. The second stage of FIG. 7 shows the drive current, the oscillating current, and the drive current to which the oscillating current is added, generated from the electric power output from the battery 16 by the 1-system control unit 5. In addition, the drive current, vibration current, and drive current to which the vibration current is added are shown on the lower side of FIG. Further, on the right side of FIG. 7, the drive current to which the oscillating current generated by the control unit 4 is added, the drive current to which the oscillating current generated by the control unit 5 is added, and the oscillating current generated by the control unit 6 are added. The supply current obtained by adding the drive currents obtained is shown.

As shown in FIG. 7, the waveform of the drive current generated by the control unit 4, the control unit 5, and the control unit 6 has a sine wave shape having a predetermined amplitude and a predetermined frequency. The control units 4, 5, and 6 determine the amplitude and frequency of the drive current according to the torque that the motors 25 and 26 should apply to the wheel 1.
On the other hand, the waveform of the oscillating current generated by the control unit 4, the control unit 5 and the control unit 6 has a higher frequency than the frequency of the drive current generated by the control unit 4, the control unit 5 and the control unit 6. It has become. In other words, the waveform of the oscillating current is a waveform that vibrates more finely than the waveform of the driving current. The waveform of the oscillating current need not be a sine wave like the drive current. The control units 4, 5, and 6 determine the amplitude and frequency of the oscillating current based on how many times the temperature of the batteries 15, 16, and 35 is increased.

Of the oscillating currents added to the drive current by the control units 4, 5, 6, two have the same phase and the other one has the opposite phase (inverted phase). For example, in the example illustrated in FIG. 7, the phases of the oscillating currents that the control units 4 and 5 add to the drive current are the same phase, and the phases of the oscillating current that the control unit 6 adds to the drive current are the control units 4 and 5. Is opposite to the phase of the oscillating current added to the drive current.
Thereby, when the oscillating current generated by the control units 4 and 5 and the oscillating current generated by the control unit 6 are added, they cancel each other.
For this reason, it is possible to reduce the influence of minute vibration derived from the oscillating current generated by the control unit 4, the control unit 5, and the control unit 6 on the passenger who has boarded the inverted two-wheel moving body.

The amplitude of the oscillating current generated by the control units 4, 5, 6 includes the oscillating current generated by the control unit 4, the oscillating current generated by the control unit 5, and the oscillating current generated by the control unit 6. Are set so that the amplitude of the current obtained by adding the values becomes equal to or less than a predetermined value. Specifically, in the second embodiment, the amplitude of the current obtained by adding the vibration current generated by the control unit 4, the vibration current generated by the control unit 5, and the vibration current generated by the control unit 6. Is set to a magnitude of the amplitude of the oscillating current generated by the control units 4, 5, 6 so as to be substantially zero. In the example shown in FIG. 7, the amplitude of the oscillating current generated by the control unit 4 and the amplitude of the oscillating current generated by the control unit 5 are substantially equal, and the amplitude of the oscillating current generated by the control unit 6 is controlled. The amplitude of the oscillating current generated by the parts 4 and 5 is almost twice as large.
Thereby, it can prevent more reliably that the fine vibration derived from the oscillating current which the control part 4, the control part 5, and the control part 6 generate | occur | produce will be transmitted to the passenger who boarded the inverted two-wheeled mobile body.
The amplitude of the current obtained by adding the oscillating current generated by the control unit 4, the oscillating current generated by the control unit 5, and the oscillating current generated by the control unit 6 is inverted by the slight vibration transmitted to the passenger. It may be in a range where there is no problem in the function of the two-wheeled moving body. In other words, the predetermined value may be a value within which the slight vibration derived from the oscillating current generated by the control unit 4, the control unit 5, and the control unit 6 is in a range where there is no problem in terms of the function of the inverted two-wheeled moving body. .

  Then, as shown in FIG. 7, the drive current to which the oscillating current generated by the control unit 4 is added, the drive current to which the oscillating current generated by the control unit 5 is added, and the oscillating current generated by the control unit 6 are The waveform of the supply current obtained by adding the added drive current is a waveform that is hardly affected by the oscillating current generated by the control unit 4, the control unit 5, and the control unit 6. In other words, the waveform of the supply current is obtained by adding the amplitude of the drive current generated by the control unit 4, the amplitude of the drive current generated by the control unit 5, and the amplitude of the drive current generated by the control unit 6. It is a sine wave having the obtained amplitude. Here, in the second embodiment, the amplitude of the drive current generated by the control unit 4, the amplitude of the drive current generated by the control unit 5, and the amplitude of the drive current generated by the control unit 6 are substantially equal. For this reason, the amplitude of the supply current is almost three times the amplitude of the drive current generated by the control unit 4, the control unit 5, and the control unit 6.

According to the control method of the inverted two-wheeled mobile body and the inverted two-wheeled mobile body according to the second embodiment described above, the same effect as the control method of the inverted two-wheeled mobile body 100 and the inverted two-wheeled mobile body 100 according to the first embodiment. Can be obtained.
Further, when the temperature of the battery is lower than the reference temperature, the control device 3 is quadruple by setting the phase and amplitude of the oscillating current generated by the control unit to increase the battery temperature faster as described above. The present invention can be applied even to a system having a control system higher than the system.

  Note that 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. Moreover, in the said embodiment, although the mobile body which has two wheels 1 was described, this invention is not limited to this, For example, the movement which has three or more wheels and three or more motors Needless to say, it can also be applied to the body.

DESCRIPTION OF SYMBOLS 1 Wheel 2 Step plate 3 Control apparatus 4, 5, 6 Control part 15, 16, 35 Battery 25, 26 Motor 251,252,253,261,262,263 Motor coil 100 Inverted two-wheel moving body (moving body)

Claims (7)

Controlling a moving body comprising a wheel, a motor that rotates the wheel, and a plurality of control units that generate a driving current for driving the motor from the electric power of the battery and supply the driving current to the motor, respectively. Control method,
When the temperature of the battery is lower than a reference temperature, the control unit adds an oscillating current having a frequency higher than the frequency of the driving current to supply the driving current to the motor,
The phase of the oscillating current added by the one control unit to the drive current is opposite to the phase of the oscillating current added by the other control unit to the drive current. . Two wheels arranged on the same axis, two motors for rotating the two wheels, and a driving current for driving the motor from the electric power of the battery, respectively, and supplying the driving current to the motor A control method for controlling a moving body comprising a plurality of control units,
When the temperature of the battery is lower than a reference temperature, the control unit adds an oscillating current having a frequency higher than the frequency of the driving current to supply the driving current to the motor,
The phase of the oscillating current added by the one control unit to the drive current is opposite to the phase of the oscillating current added by the other control unit to the drive current. . The moving body includes three control units that supply the driving current to the motor, respectively.
Of the three control units, the two control units have the same phase of the oscillating current added to the drive current,
The phase of the oscillating current added to the drive current by the two control units is opposite to the phase of the oscillating current added to the drive current by the other control unit. 3. A method for controlling a moving object according to 2.   The amplitude of the oscillating current added to the drive current by the plurality of control units is the predetermined value of the amplitude of the current obtained by adding the oscillating currents added to the drive current by the plurality of control units. The method for controlling a moving body according to any one of claims 1 to 3, wherein the control method is set to be as follows. Two wheels arranged on the same axis, two motors for rotating the two wheels, and a driving current for driving the motor from the electric power of the battery, respectively, and supplying the driving current to the motor A plurality of control units,
When the temperature of the battery is lower than a reference temperature, the control unit adds an oscillating current having a frequency higher than the frequency of the driving current to supply the driving current to the motor,
The inverted two-wheeled moving body, wherein a phase of the oscillating current added to the drive current by one control unit is opposite to a phase of the oscillating current added to the drive current by another control unit. The inverted two-wheel moving body includes the three control units that supply the drive current to the motor, respectively.
Of the three control units, the two control units have the same phase of the oscillating current added to the drive current,
The phase of the oscillating current added to the drive current by the two control units is opposite to the phase of the oscillating current added to the drive current by the other control unit. The described inverted two-wheeled vehicle.   The amplitude of the oscillating current added to the drive current by the plurality of control units is the predetermined value of the amplitude of the current obtained by adding the oscillating currents added to the drive current by the plurality of control units. The inverted two-wheeled vehicle according to claim 5 or 6, which is set so as to be as follows.

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