JP7194178B2 - 線形安定化システムを有する二輪車両 - Google Patents
線形安定化システムを有する二輪車両 Download PDFInfo
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- 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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- 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
- B62K7/00—Freight- or passenger-carrying cycles
- B62K7/02—Frames
- B62K7/04—Frames having a carrying platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
- B60Y2200/83—Perambulators; Buggies; Strollers
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/42033—Kind of servo controller
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/72—Electric energy management in electromobility
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- Motorcycle And Bicycle Frame (AREA)
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- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Feedback Control In General (AREA)
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Description
Claims (20)
- 二輪車両であって、
シャシと、
前記シャシに移動可能に結合され、かつ前記シャシに対して車両前後方向に変位可能な第1の車輪キャリッジと、
前記第1の車輪キャリッジ上に回転可能に装着された第1の車輪であって、前記第1の車輪キャリッジを介して前記シャシに結合された第1の車輪と、
前記第1の車輪キャリッジに結合され、かつ前記第1の車輪キャリッジを前記シャシに対して車両前後方向に変位させるように構成された第1の線形アクチュエータシステムと、
前記第1の車輪および前記第1の車輪キャリッジに装着された第1のモータであって、前記第1の車輪に駆動エネルギを提供するように、かつ前記第1の車輪が前記第1の線形アクチュエータシステムによって変位されるときに、前記第1の車輪キャリッジと共に変位されるように構成された第1のモータと、
前記二輪車両の、前記第1の車輪キャリッジとは反対側に配設された第2の車輪キャリッジ上に装着された第2の車輪であって、前記第1車輪に対して軸方向に整列された第2の車輪と、
前記二輪車両の、前記第1の線形アクチュエータシステムとは反対側で前記第2の車輪キャリッジに結合され、前記第2の車輪キャリッジを前記シャシに対して車両前後方向に変位させるように構成された第2の線形アクチュエータシステムと、
前記第2の車輪および前記第2の車輪キャリッジに装着された第2のモータであって、前記第2の車輪に駆動エネルギを提供するように、かつ前記第2の車輪が前記第2の線形アクチュエータシステムによって変位されるときに、前記第2の車輪キャリッジと共に変位されるように構成された第2のモータと、
前記第1の線形アクチュエータシステムを前記第2の線形アクチュエータシステムに結合する車軸と、
前記第1および第2の線形アクチュエータシステムを駆動するために、前記車軸を介して前記第1および第2の線形アクチュエータシステムに回転的に結合された第3のモータと、
を備える二輪車両。 - 前記第1および第2の線形アクチュエータシステムが、各々、
車両前後方向に沿って互いにつながれて、前記シャシの両側に位置付けられ、かつ前記第3のモータによって駆動される第1および第2のプーリと、
前記第1および第2のプーリを互いにつなげるベルトであって、前記ベルトがさらに、前記第1および第2の車輪キャリッジのそれぞれの1つに結合され、かつ前記第1および第2のプーリの回転に基づいて並進するように構成され、それによって、前記ベルトがそれぞれ結合される前記第1および第2の車輪キャリッジを前記シャシに対して車両前後方向に並進させるベルトと、
前記シャシの両側に車両前後方向に沿って結合された少なくとも1つのレールであって、前記レールに沿って、前記第1および第2の車輪キャリッジがそれぞれ前記ベルトの運動を介して並進される、レールと、
を含む請求項1に記載の二輪車両。 - 前記第2のモータが、前記第1の車輪に駆動エネルギを提供する前記第1のモータとは独立して、前記第2の車輪に前記駆動エネルギを提供する、請求項1に記載の二輪車両。
- 前記第1および第2の線形アクチュエータシステムが、前記それぞれの第1および第2の車輪キャリッジを最大300mm/秒の速度で前記シャシに対して並進させる、請求項1に記載の二輪車両。
- 前記第1および第2のモータが、各々、ハブモータを含み、前記ハブモータが、前記第1および第2の車輪の中心に装着され、かつ前記ハブモータの対応する固定子を介して前記第1および第2の車輪キャリッジに結合される、請求項1に記載の二輪車両。
- 前記第1および第2のモータの各々が、
固定子であって、その上に配設された一連のコイルで構成された固定子と、
前記第1および第2の車輪にそれぞれ取り付けられるか、またはそれぞれと一体化され、かつ一連の磁石を含むように構成された回転子であって、前記回転子が、前記固定子の外側に対して回転可能に装着されており、前記回転子およびそれぞれの前記第1および第2の車輪の回転を引き起こすように、電気エネルギが前記固定子に供給される、回転子と、
を含む請求項5に記載の二輪車両。 - 前記第1のモータおよび前記第2のモータのうちの少なくとも1つに電気エネルギを供給するために、前記シャシの底面上に配設された電池をさらに備える請求項1に記載の二輪車両。
- 前記第1の線形アクチュエータシステム、第2の線形アクチュエータシステムおよび前記第3のモータのうちの少なくとも1つの動作を制御するための、少なくとも1つの線形アクチュエータコントローラをさらに備える請求項1に記載の二輪車両。
- 前記第1および第2のモータのうちの少なくとも1つの動作を制御するための、少なくとも1つのモータコントローラをさらに備える請求項1に記載の二輪車両。
- 前記シャシのピッチ角を検知するための、前記シャシ上に配設されたピッチセンサをさらに備える請求項1に記載の二輪車両。
- 前記ピッチセンサの出力に応答して、前記シャシに対する前記第1および第2の車輪キャリッジのうちの少なくとも1つの変位を制御するために、前記ピッチセンサに通信可能に結合されたピッチコントローラをさらに備える請求項10に記載の二輪車両。
- 前記ピッチコントローラが、水平位置に対して実質的に一定のシャシ配向を維持するために、前記第1および第2の車輪キャリッジを前記シャシに対して変位させるように、前記第3のモータを制御するように構成されている、請求項11に記載の二輪車両。
- 前記実質的に一定のシャシ配向が、前記水平位置からプラスまたはマイナス2度以内に維持される前記シャシのピッチの角度を含む、請求項12に記載の二輪車両。
- 前記ピッチセンサが、傾斜計および慣性移動ユニットのうちの少なくとも1つを含む、請求項10に記載の二輪車両。
- 前記ピッチセンサが、前記シャシの底面上の中心に位置付けられている、請求項10に記載の二輪車両。
- 前記シャシによって支持された荷物室をさらに備える、請求項1に記載の二輪車両。
- 請求項1に記載の二輪車両を動的に安定化するための方法であって、
前記シャシ上に配設された少なくとも1つのセンサによって、前記二輪車両の動作中に水平位置に対する前記シャシのピッチを測定し、かつそれに基づいてピッチ信号を出力することと、
前記少なくとも1つのセンサの前記出力されたピッチ信号に応答する前記二輪車両内に配置されたコントローラによって、前記水平位置に対して実質的に一定のシャシ配向を維持するために、前記第1および第2の車輪キャリッジを前記シャシに対して車両前後方向に変位させるように、前記車軸を介して前記第3モータを使用して前記第1および第2の線形アクチュエータシステムを制御することと、を含む、方法。 - 前記実質的に一定のシャシ配向を維持することが、前記シャシの前記ピッチを前記水平位置のプラスまたはマイナス2度以内に維持することを含む、請求項17に記載の方法。
- 前記コントローラが、さらに、検知された前記二輪車両の加速度に基づいて、前記第1および第2の線形アクチュエータシステムを制御する、請求項17に記載の方法。
- 前記コントローラが、比例積分微分(PID)またはPIDベースのコントローラアルゴリズムを実行する、請求項17に記載の方法。
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Application Number | Priority Date | Filing Date | Title |
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IT102017000114497A IT201700114497A1 (it) | 2017-10-11 | 2017-10-11 | Veicolo a due ruote con sistema di stabilizzazione lineare |
IT102017000114497 | 2017-10-11 | ||
PCT/US2018/055135 WO2019075002A1 (en) | 2017-10-11 | 2018-10-10 | TWO-WHEELED VEHICLE HAVING A LINEAR STABILIZATION SYSTEM |
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JP2020536791A JP2020536791A (ja) | 2020-12-17 |
JP7194178B2 true JP7194178B2 (ja) | 2022-12-21 |
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US (1) | US11613325B2 (ja) |
EP (1) | EP3695285B1 (ja) |
JP (1) | JP7194178B2 (ja) |
KR (1) | KR102651044B1 (ja) |
CN (1) | CN111386506B (ja) |
CA (1) | CA3078626A1 (ja) |
IT (1) | IT201700114497A1 (ja) |
WO (1) | WO2019075002A1 (ja) |
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JP2020503204A (ja) | 2016-10-18 | 2020-01-30 | ピアジオ ファスト フォワード インク | 非軸駆動および安定化システムを有する車両 |
IT201700114497A1 (it) | 2017-10-11 | 2019-04-11 | Piaggio Fast Forward Inc | Veicolo a due ruote con sistema di stabilizzazione lineare |
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EP3695285B1 (en) | 2023-02-01 |
KR20200085745A (ko) | 2020-07-15 |
CN111386506B (zh) | 2023-10-20 |
EP3695285A1 (en) | 2020-08-19 |
KR102651044B1 (ko) | 2024-03-22 |
CA3078626A1 (en) | 2019-04-18 |
US11613325B2 (en) | 2023-03-28 |
IT201700114497A1 (it) | 2019-04-11 |
WO2019075002A1 (en) | 2019-04-18 |
EP3695285A4 (en) | 2021-09-01 |
JP2020536791A (ja) | 2020-12-17 |
CN111386506A (zh) | 2020-07-07 |
US20200239098A1 (en) | 2020-07-30 |
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