JP7332536B2 - 移動体の制御装置 - Google Patents
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Description
前記移動体の運動状態の観測データを取得し、該観測データに基づいて、該移動体の運動によって発生するヨー方向の慣性力に釣り合う回転力である運動回転力を推定する運動回転力推定部と、
前記アクチュエータが出力する駆動力又は該駆動力に関連する状態量の観測データを取得し、該観測データに基づいて、前記アクチュエータから前記移動動作部に付与されるヨー方向の回転駆動力を推定する回転駆動力推定部と、
前記移動体に付与された外力による回転力である外力回転力を、前記運動回転力推定部により推定された運動回転力と前記回転駆動力推定部により推定された回転駆動力とを用いて推定する外力回転力推定部と、
該外力回転力推定部で推定された外力回転力と前記乗員による操縦操作とに応じて前記移動動作部の旋回動作を行わせるように前記アクチュエータを介して該移動動作部の移動制御を行う移動制御部とを備えることを特徴とする(第1発明)。
dVb_x/dt=(g/h_x)・(θb_x・(h_x-r_x)+Ofst_x)+ωz・Vb_y
……(1b)
Vb_y=Vw_y+h_y・ωb_y ……(2a)
dVb_y/dt=(g/h_y)・(θb_y・h_y+Ofst_y)-ωz・Vb_x
……(2b)
Vb_estm_y=Vw_act_y+h_y・ωb_act_y ……(3b)
-Kth_x・θb_act_x-Kw_x・ωb_act_x ……(4a)
DVw_cmd_y=Kvb_y・(Vb_cmpn_cmd_y-Vb_estm_y)
-Kth_y・θb_act_y-Kw_y・ωb_act_y ……(4b)
-Kth_x・(Ofst_estm_x/(h_x-r_x)+θb_act_x)
-Kw_x・ωb_act_x ……(4a)’
DVw_cmd_y=Kvb_y・(Vb_cmd_y-Vb_estm_y)
-Kth_y・(Ofst_estm_y/h_y+θb_act_y)
-Kw_y・ωb_act_y ……(4b)’
ここで、Izは、移動体1のヨー方向の慣性モーメント(イナーシャ)の設定値である。なお、例えば目標旋回速度決定部50の各演算処理周期において、目標旋回速度ωz_cmdの微分値dωz_act/dtを逐次算出し、前回の演算処理周期で求めたdωz_act/dtの値を、dωz_act/dtの代わりに用いて、運動回転力Tq1zの推定値を算出してもよい。
Fd_R_x=(iq_a_R・Km+iq_b_R・Km)・Kc/r_x ……(6b)
式(7)におけるTreadは、Y軸方向における移動動作部3L,3Rの間隔(トレッド)である。
VwL_cmd_y=Vw_cmd_y ……(8b)
VwR_cmd_x=Vw_cmd_x+ωz_cmd・(Tread/2) ……(8c)
VwR_cmd_y=Vw_cmd_y ……(8d)
Claims (6)
- 床面上を移動可能な移動動作部と、該移動動作部を駆動するアクチュエータと、乗員の搭乗部と、前記移動動作部、前記アクチュエータ及び前記搭乗部が組み付けられた基体とを備える移動体の前記移動動作部の移動制御を、少なくとも前記搭乗部に搭乗した乗員による操縦操作に応じて前記アクチュエータを介して実行する制御装置であって、
前記移動体の運動状態の観測データを取得し、該観測データに基づいて、該移動体の運動によって発生するヨー方向の慣性力に釣り合う回転力である運動回転力を推定する運動回転力推定部と、
前記アクチュエータが出力する駆動力又は該駆動力に関連する状態量の観測データを取得し、該観測データに基づいて、前記アクチュエータから前記移動動作部に付与されるヨー方向の回転駆動力を推定する回転駆動力推定部と、
前記移動体に付与された外力による回転力である外力回転力を、前記運動回転力推定部により推定された運動回転力と前記回転駆動力推定部により推定された回転駆動力とを用いて推定する外力回転力推定部と、
該外力回転力推定部で推定された外力回転力と前記乗員による操縦操作とに応じて前記移動動作部の旋回動作を行わせるように前記アクチュエータを介して該移動動作部の移動制御を行う移動制御部とを備えることを特徴とする移動体の制御装置。 - 請求項1記載の移動体の制御装置において、
前記外力回転力推定部は、前記運動回転力推定部により推定された運動回転力と前記回転駆動力推定部により推定された回転駆動力との差、又は該差にローパス特性のフィルタリング処理を施してなる値を、前記外力回転力の基本値として求める処理と、該基本値が所定の不感帯内の値であるときには、前記外力回転力の推定値をゼロとし、該基本値が該不感帯を逸脱した値であるときには、その逸脱量に応じて決定した値を前記外力回転力の推定値とする不感帯処理とにより前記外力回転力の推定値を求めるように構成されていることを特徴とする移動体の制御装置。 - 請求項2記載の移動体の制御装置において、
前記外力回転力推定部は、前記不感帯を、前記移動体のヨーレートの観測データに応じて可変的に設定する機能をさらに有するように構成されていることを特徴とする移動体の制御装置。 - 請求項1~3のいずれか1項に記載の移動体の制御装置において、
前記移動制御部は、前記外力回転力推定部により推定された前記外力回転力がゼロである状態、又は該外力回転力の大きさが所定値よりも小さい状態である外力無し状態では、前記乗員による操縦操作に応じて決定した前記移動体の目標旋回速度に応じて前記アクチュエータの作動制御を実行し、前記外力回転力推定部により推定された前記外力回転力がゼロでない状態、又は該外力回転力の大きさが所定値よりも大きい状態である外力有り状態では、該外力回転力に応じて決定した前記移動体の目標旋回速度に応じて前記アクチュエータの作動制御を実行するように構成されていることを特徴とする移動体の制御装置。 - 請求項4記載の移動体の制御装置において、
前記移動制御部は、前記外力回転力推定部により推定された前記外力回転力の状態が前記外力無し状態及び前記外力有り状態の一方の状態から他方の状態に変化したときには、前記移動体の目標旋回速度を徐々に変化させるように決定しつつ、該目標旋回速度に応じて前記アクチュエータの作動制御を実行するように構成されていることを特徴とする移動体の制御装置。 - 請求項1~5のいずれか1項に記載の移動体の制御装置において、
前記移動体は、床面上を全方向に移動可能な複数の前記移動動作部と、鉛直方向に対して傾動可能に前記基体に組付けられた前記搭乗部とを備える倒立振子型の移動体であることを特徴とする移動体の制御装置。
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JP2002085473A (ja) | 2000-09-11 | 2002-03-26 | Nabco Ltd | 電動車椅子 |
JP2013237335A (ja) | 2012-05-14 | 2013-11-28 | Honda Motor Co Ltd | 倒立振子型車両 |
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WO2008132779A1 (ja) | 2007-04-20 | 2008-11-06 | Honda Motor Co., Ltd. | 全方向駆動装置及びそれを用いた全方向移動車 |
EP2138378B1 (en) | 2007-04-20 | 2018-08-01 | Honda Motor Co., Ltd. | Omnidirectional driver and omnidirectional vehicle employing it |
CN102036874B (zh) | 2008-11-27 | 2013-09-18 | 丰田自动车株式会社 | 移动体及其控制方法 |
JP5959928B2 (ja) * | 2012-05-14 | 2016-08-02 | 本田技研工業株式会社 | 倒立振子型車両 |
JP5921950B2 (ja) * | 2012-05-14 | 2016-05-24 | 本田技研工業株式会社 | 倒立振子型車両 |
JP6111119B2 (ja) * | 2013-03-29 | 2017-04-05 | 本田技研工業株式会社 | 倒立振子型車両 |
JP5988952B2 (ja) | 2013-11-14 | 2016-09-07 | 本田技研工業株式会社 | 車輪及び車輪装置及び倒立振子型車両 |
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