WO2009054207A1 - 倒立型移動体および倒立型移動体の制御方法 - Google Patents

倒立型移動体および倒立型移動体の制御方法 Download PDF

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Publication number
WO2009054207A1
WO2009054207A1 PCT/JP2008/066712 JP2008066712W WO2009054207A1 WO 2009054207 A1 WO2009054207 A1 WO 2009054207A1 JP 2008066712 W JP2008066712 W JP 2008066712W WO 2009054207 A1 WO2009054207 A1 WO 2009054207A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable body
rotator
inverted
type movable
main body
Prior art date
Application number
PCT/JP2008/066712
Other languages
English (en)
French (fr)
Inventor
Hideki Kajima
Yoshiyuki Semba
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CN2008801129296A priority Critical patent/CN101836171B/zh
Priority to EP08832768.9A priority patent/EP2083340B1/en
Priority to US12/440,980 priority patent/US8560152B2/en
Publication of WO2009054207A1 publication Critical patent/WO2009054207A1/ja

Links

Classifications

    • 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
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

　移動体の移動中に倒立状態に異常が発生しても、倒立制御を安定して継続することが可能な倒立型移動体、および倒立型移動体の制御方法を提供すること。断面が円形の回転体と、回転体を回転駆動させる駆動部と、回転体を保持する移動体本体と、駆動部を制御し、床面に接する前記回転体の回転駆動を制御することで移動体本体の倒立状態を維持する制御部と、を備える倒立型移動体において、制御部が、移動体本体の傾斜状態に基づいて得られた信号に所定のゲインを乗じ、倒立状態を維持するための回転体の駆動量を算出するとともに、移動体本体の倒立状態が異常と判断された際に、ゲインを低減するようにした。
PCT/JP2008/066712 2007-10-23 2008-09-17 倒立型移動体および倒立型移動体の制御方法 WO2009054207A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2008801129296A CN101836171B (zh) 2007-10-23 2008-09-17 倒立型移动体以及倒立型移动体的控制方法
EP08832768.9A EP2083340B1 (en) 2007-10-23 2008-09-17 Inverted type movable body and control method thereof
US12/440,980 US8560152B2 (en) 2007-10-23 2008-09-17 Inverted type moving body and method of controlling same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-274769 2007-10-23
JP2007274769A JP4766031B2 (ja) 2007-10-23 2007-10-23 倒立型移動体および倒立型移動体の制御方法

Publications (1)

Publication Number Publication Date
WO2009054207A1 true WO2009054207A1 (ja) 2009-04-30

Family

ID=40579314

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/066712 WO2009054207A1 (ja) 2007-10-23 2008-09-17 倒立型移動体および倒立型移動体の制御方法

Country Status (5)

Country Link
US (1) US8560152B2 (ja)
EP (1) EP2083340B1 (ja)
JP (1) JP4766031B2 (ja)
CN (1) CN101836171B (ja)
WO (1) WO2009054207A1 (ja)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5306951B2 (ja) * 2009-09-18 2013-10-02 本田技研工業株式会社 倒立振子型車両
JP5330198B2 (ja) * 2009-11-13 2013-10-30 本田技研工業株式会社 倒立振子型車両の制御装置
JP5330199B2 (ja) * 2009-11-13 2013-10-30 本田技研工業株式会社 倒立振子型車両の制御装置
JP5330200B2 (ja) * 2009-11-13 2013-10-30 本田技研工業株式会社 倒立振子型車両の制御装置
JP5488095B2 (ja) * 2010-03-23 2014-05-14 トヨタ自動車株式会社 倒立型移動体及びその制御方法
JP5652043B2 (ja) * 2010-08-06 2015-01-14 トヨタ自動車株式会社 倒立型移動体、その制御方法及び制御プログラム
JP5595978B2 (ja) * 2011-05-28 2014-09-24 双葉電子工業株式会社 遠隔制御機器の駆動制御装置
JP5983457B2 (ja) * 2013-02-19 2016-08-31 トヨタ自動車株式会社 倒立二輪車及びその制御方法
JP5800110B2 (ja) * 2013-10-10 2015-10-28 株式会社村田製作所 手押し車
CN108068938B (zh) * 2016-11-11 2020-01-03 广东高标电子科技有限公司 一种双轮车速度控制方法及系统
JP6920871B2 (ja) * 2017-04-24 2021-08-18 本田技研工業株式会社 倒立振子型車両
JP2019043494A (ja) * 2017-09-07 2019-03-22 トヨタ自動車株式会社 倒立二輪車
CN111596653A (zh) * 2020-04-09 2020-08-28 北京理工大学 一种消防机器人及其控制方法、电子设备
CN115320763B (zh) * 2021-11-19 2024-06-07 钭俊龙 一种操作容易的两轮电动平衡车及控制方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0338538A2 (en) 1988-04-20 1989-10-25 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Traction control apparatus
WO2002030730A2 (en) 2000-10-13 2002-04-18 Deka Products Limited Partnership Control of a personal transporter
EP1529556A2 (en) 2003-11-04 2005-05-11 Sony Corporation Travelling apparatus and method for controlling thereof
JP2006290195A (ja) 2005-04-12 2006-10-26 Sony Corp 車両装置及びその制御方法
EP1759972A2 (en) 2005-09-02 2007-03-07 Toyota Jidosha Kabushiki Kaisha A running machine with wheels
JP2007069688A (ja) * 2005-09-06 2007-03-22 Toyota Motor Corp 走行体および走行体の動作調節方法
JP2007076413A (ja) * 2005-09-12 2007-03-29 Toyota Motor Corp 走行体および走行体の動作調節方法
JP2007160956A (ja) * 2005-12-09 2007-06-28 Toyota Motor Corp 走行体

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4000423C2 (de) 1990-01-09 1998-10-08 Dorst Masch & Anlagen Presse zur Herstellung maßhaltiger Preßlinge aus pulverförmigem Material
MXPA01009342A (es) 1999-03-15 2003-07-14 Deka Products Limited Partnership Sistema y metodo de control para silla de reudas.
CA2891706C (en) 2004-10-08 2017-12-19 Segway Inc. Vehicle control by pitch modulation
CN100511326C (zh) * 2005-10-18 2009-07-08 中国科学技术大学 两轮遥控小车倒立摆及其平衡控制方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0338538A2 (en) 1988-04-20 1989-10-25 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Traction control apparatus
WO2002030730A2 (en) 2000-10-13 2002-04-18 Deka Products Limited Partnership Control of a personal transporter
EP1529556A2 (en) 2003-11-04 2005-05-11 Sony Corporation Travelling apparatus and method for controlling thereof
JP2006290195A (ja) 2005-04-12 2006-10-26 Sony Corp 車両装置及びその制御方法
EP1759972A2 (en) 2005-09-02 2007-03-07 Toyota Jidosha Kabushiki Kaisha A running machine with wheels
JP2007069688A (ja) * 2005-09-06 2007-03-22 Toyota Motor Corp 走行体および走行体の動作調節方法
JP2007076413A (ja) * 2005-09-12 2007-03-29 Toyota Motor Corp 走行体および走行体の動作調節方法
JP2007160956A (ja) * 2005-12-09 2007-06-28 Toyota Motor Corp 走行体

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2083340A4

Also Published As

Publication number Publication date
CN101836171B (zh) 2012-07-04
EP2083340B1 (en) 2013-10-23
US20100179749A1 (en) 2010-07-15
US8560152B2 (en) 2013-10-15
JP2009104360A (ja) 2009-05-14
EP2083340A1 (en) 2009-07-29
CN101836171A (zh) 2010-09-15
JP4766031B2 (ja) 2011-09-07
EP2083340A4 (en) 2011-04-27

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