WO2009072215A1 - 走行装置及びその制御方法 - Google Patents
走行装置及びその制御方法 Download PDFInfo
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- WO2009072215A1 WO2009072215A1 PCT/JP2007/073738 JP2007073738W WO2009072215A1 WO 2009072215 A1 WO2009072215 A1 WO 2009072215A1 JP 2007073738 W JP2007073738 W JP 2007073738W WO 2009072215 A1 WO2009072215 A1 WO 2009072215A1
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- WIPO (PCT)
- Prior art keywords
- posture
- control
- correction value
- command
- traveling device
- Prior art date
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Classifications
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- 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
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- 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
- B60L2200/16—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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- 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
- B60L2240/18—Acceleration lateral
-
- 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
- B60L2240/20—Acceleration angular
-
- 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
- B60L2240/26—Vehicle weight
-
- 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
- B60L2240/421—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
- B60L2240/40—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
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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
Definitions
- the present invention is, for example, a traveling device suitable for use in a vehicle in which two wheels that are independently driven are provided in parallel and controlled so as to maintain the front and rear stability between the two wheels. And a control method thereof. Specifically, it prevents the device from inadvertently moving when parked on a slope.
- Patent Document 2 Japanese Unexamined Patent Application Publication No. 2004-074814 Disclosure of the invention
- the coaxial two-wheeled vehicle 10 previously proposed by the present applicant has two wheels 1 1 L and 1 1 R provided in parallel, and these wheels 1 1 L and 1 1 R is driven by independent motors 1 2 L and 1 2 R, respectively.
- the driving of these motors 12 L and 12 R is controlled by the control device 13.
- the control device 13 is connected to a posture sensor 14 such as a gyro, and the value of the drive torque (motor torque) necessary for controlling the motors 12 L and 12 R according to the detection signal from the posture sensor 14. Is calculated.
- split tables 15 L, 15 R showing a specific example of the riding section on which the driver is boarding.
- the divided tables 15 L and 15 R are held in a predetermined posture by a link mechanism (not shown).
- a handle lever 16 extending upward is provided between the split tables 15 L and 15 R, and a battery 17 serving as a driving power source for the entire apparatus and a roll shaft angle detector ( (See Fig. 8) 2 1 is provided.
- a grip part 19 having a power switch 18 is provided on the upper part of the handle lever 16.
- the driver 20 stands up with his / her feet on the split tables 15 L, 15 R, and grabs the grip 19 at the top of the handle lever 16 to Operate the shaft angle of switch 1 8 and handle lever 1 6.
- This operation is detected by the Ronellet shaft angle detector 21.
- the position of the center of gravity of the driver who has boarded the divided tables 15 L and 15 R is detected by a built-in pressure sensor (not shown).
- Figure 9 shows a block diagram of the configuration of the control system. That is, in FIG. 9, the configuration of the control system including the above-described control device 13 and its peripheral circuits is shown in a block diagram.
- the operation signals from the various switches 30 are supplied to the central control device 31, and the central control device 31 forms left and right rotation angle command signals 0refl and 0 ref 2.
- These rotation angle command signals 0refl and 0ref2 are supplied to the motor control devices 32L and 32R, respectively.
- motor currents I ml and I m2 formed by these motor control devices 3 2 L and 32 R are supplied to the motors 12 L and 12 R, respectively.
- the rotations of these motors 12 L, 12 R are transmitted to the wheels 11 L, 11 R via the speed reducers 33 L, 33 R.
- the rotation angles of the motors 1 2 L and 1 2 R are detected by the detectors 34 L and 34R, respectively.
- the detected rotation angle signals 0ml and 0m2 are supplied to the motor control devices 3 2 L and 3 2 R and to the central control device 31 respectively, and feedback control of the rotation angle command signals 0refl and 0ref 2 is performed. Is done.
- the detection signals from the pressure sensors 3 5 and roll axis angle detector (PM) 2 1 built in the split tables 15 L and 15 R are supplied to the circuit 36 including the attitude sensor 14 and the roll axis angle
- the detection signal PM and the formed table posture detection signal 0 0 (consisting of ⁇ roll, ⁇ pitch, ⁇ yaw, coroll, wpitch, coyaw force) are supplied to the control device 13.
- FIG. 10 schematically shows a specific configuration of a single-wheel model control device.
- the table sensor is common.
- the motor control connected to the wheels in the illustrated model is controlled by an independent control device for each wheel.
- pressure detection signals PS 1, 2, 3, 4 from pressure sensors (not shown) built in table 15 and table posture detection from posture sensor 14 consisting of gyro sensor and acceleration sensor
- the signal 0 0 is supplied to the attitude control unit 31 in the control device 13.
- REFyaw, co REFpitch, and co REFyaw are calculated and supplied to the calculated rotation command ⁇ ref motor controller 32.
- the wheel 11 and the motor 12 are connected via a speed reducer 33, and the motor 12 is provided with a rotation angle detector 34. Then, the rotation angle position signal 0 m from the rotation angle detector 34 is supplied to the motor control unit 32 in the control device 13. As a result, the drive current to the motor 12 formed according to the rotation command 0 ref described above is feedback controlled, and the drive of the wheel 11 is stabilized. In this way, the wheels 11 are driven stably, and the driving is controlled by pressure detection signals PS 1 to 4 from a pressure sensor (not shown), detection signals 0 0 from the attitude sensor, and the like. Is done.
- FIG. 11 shows the mutual connection of the systems.
- the pressure detection signals PS 1 to 4 from the pressure sensor 35 and the roll shaft angle detection signal PM from the handle lever angle potentiometer (potentiometer) 2 1 of the handle lever 1 6 are the posture sensor circuit 3 6 To be supplied.
- the attitude sensor circuit 36 includes a gyro sensor 4 1 and an acceleration sensor 4 2. As a result, the attitude sensor circuit From the path 36, pressure detection signals PS1 to PS4, roll shaft angle detection signal PM and table posture detection signal ⁇ 0 force S are taken out.
- These pressure detection signals PS 1 to 4, Rohner shaft angle detection signal PM and table attitude detection signal 00 are supplied to the central control device 43 in the control device 13. Further, an operation signal from the power switch 18 is supplied to the central controller 43. As a result, the central controller 43 calculates the rotation commands 0refl and 0ref2 for the left and right wheels and supplies them to the motor control units 32L and 32R. Further, signals from the rotation detectors 34 L and 34 R are supplied to the motor control units 32 L and 32 R, and the motors 12 L and 12 R are driven.
- power from the battery 17 is supplied to the power supply circuit 44.
- 24 V motor power from the power circuit 44 is supplied to the motor control units 32 L and 32 R, and, for example, 5 V control power is supplied to the attitude sensor circuit 36 and the central controller 43.
- the power supply circuit 44 is provided with a power switch 45 to control the supply of power to each part. In this way, the motors 1 2 L, 1 2R are driven, and the wheels 1 1 L, 1 1 R force S are driven by these motors 1 2 L, 1 2R, and the coaxial two-wheeled vehicle 10 travels. .
- the subject of the present invention is a two-wheeled vehicle characterized in that a motor is incorporated in each of the independent wheels as shown in FIG. 7, and a control structure that maintains the balance by detecting the body posture is provided. It has a running mechanism and a control device that control the running by controlling the motor torque, the base has a built-in gyro sensor and acceleration sensor, and the base pitch angle and the show angle are controlled by the control device by giving the turning torque to the wheels.
- the vehicle is controlled so that the main body moves forward / backward / rotation while maintaining a defined stable posture.
- an inverted pendulum is used in a vehicle characterized by the freedom of rotation of the pivot shaft by a parallel link structure as shown in FIG. 7, or in a vehicle that can also be applied to a vehicle of one wheel, three wheels or more.
- the control method driven by the principle it is impossible to stand still on the gradient road surface.
- the techniques described in Patent Documents 1 and 2 cannot stand still on a gradient road surface, and travel at an increased speed in proportion to the gradient angle. For this reason, it is necessary to stop by a human operation on a slope road surface, and there is also a problem that the posture cannot be maintained autonomously when a person does not get on the slope.
- the control system of the servo motor is controlled by an inverted pendulum and the control system of the motor position control is doubled, and a control that is compatible with braking by the brake lever is devised.
- the present invention provides a traveling device that can be stationary even on a sloping road surface and a control method therefor. The invention's effect
- control system of the servo motor has a double control system of the inverted pendulum and the control system of the motor position control, and is controlled by the brake lever. 7 073738
- the control in the normal travel mode can be performed satisfactorily. Furthermore, according to the inventions of claims 1 and 5, it is possible to satisfactorily perform the control in the traction mode when not riding.
- the control system of the servo motor is controlled by the inverted pendulum and the control system of the motor position control is double, and the control is compatible with the braking by the brake lever.
- FIG. 1 is a block diagram showing an embodiment of a configuration for stationary posture control to which a traveling device and a control method thereof according to the present invention are applied.
- FIG. 2 is a diagram for explaining that.
- FIG. 3 is a diagram for explaining that.
- FIG. 4 is a diagram for explaining that.
- FIG. 5A is a diagram for explaining the same.
- FIG. 5B is a diagram for explaining the same.
- FIG. 6 is a flowchart for explaining the operation.
- FIG. 7A is a configuration diagram showing an embodiment of a traveling device to which the present invention is applied.
- FIG. 7B is a configuration diagram showing an embodiment of a traveling device to which the present invention is applied.
- FIG. 8 is a diagram for explaining that.
- FIG. 9 is a diagram for explaining that.
- FIG. 10 is a diagram for explaining that.
- FIG. 1 1 is a diagram for explaining this. Explanation of symbols
- Attitude control calculation unit 101 ... Stable attitude angle command value ⁇ REFpitchO setting unit, 102 ... Attitude angular velocity command value coREFpitch setting unit, 103, 106 ... Adder, 104, 1 07 ... Subtractor , 105, 108 ... Controller, 109 ... Amplifier with gain Kamp, 1 1 0 ... Motor constant (Kra), 1 14 ... System, 1 1 9 ... Arithmetic unit, 1 20 ... Switch. T / JP2007 / 073738
- the traveling device of the present invention is a traveling device that travels while controlling the driving of the wheels, and calculates a motor torque for driving the wheels to generate a motor torque command signal, and the generated motor
- a detection means for detecting a rotation angle change value of a wheel drive system driven by a torque command signal, an attitude command correction value calculation means for calculating an attitude command correction value from the rotation angle change value, and a passenger determines an attitude command angle.
- An operation means for inputting, a selection switch for stationary mode, and a determination means for determining the presence or absence of a passenger, and the control means calculates motor torque according to the attitude command angle and the attitude command correction value, When the stationary mode is selected with the selection switch, control is performed to add the attitude command correction value to the attitude command angle.
- the traveling device control method of the present invention is a traveling device control method that travels while controlling the driving of wheels, and calculates a motor torque in accordance with a supplied rotation command and outputs a motor torque command signal.
- the rotation angle change value of the wheel drive system driven by the generated motor torque command signal is detected, and the attitude command angle input to the operating means and the attitude command correction value calculated from the rotation angle change value are The motor torque is calculated accordingly, and when the stationary mode is selected, control is performed to add the attitude command correction value to the attitude command angle.
- FIG. 1 is a block diagram showing an embodiment of a configuration for stationary posture control to which a traveling device and a control method thereof according to the present invention are applied.
- the posture control calculation unit 100 includes, for example, a setting unit 10 01 for a stable posture angle command value ⁇ REFpitchO and a setting unit 10 2 for a posture angular velocity command value w REFpitch. Then, the value 0 REFpitchO from the setting unit 1 0 1 becomes the adder 1 0 3, PT / JP2007 / 073738
- the signal is supplied to the controller 1 0 5 through the subtractor 1 04, multiplied by the coefficient Kp, and supplied to the adder 106. Further, the value coREFpitch from the setting unit 102 is supplied to the controller 108 through the subtractor 10 07, multiplied by the coefficient Kd, and supplied to the adder 106. As a result, the motor torque command Tref [Nm] is extracted from the adder 106.
- the motor torque command Tref [Nm] is supplied to the amplifier 109 having a gain Kamp, converted into a motor current Im [A], and supplied to the motor.
- This motor is represented by a motor constant (Km) 1 1 0.
- the motor torque output Tm [Nm] is extracted from the motor constant 110.
- This motor torque output Tm [Nm] is input to a system 114 consisting of a passenger and a vehicle.
- the table attitude 0 0 is detected from the system 1 1 4, of which the pitch angular velocity ⁇ pitch is supplied to the subtractor 1 07 and subtracted from the value c REFpitch, and the pitch angle 0 pitch is supplied to the subtractor 1 04 Subtracted from the value 0REFpitch.
- the tire rotation angle 0t is detected from the system 114.
- the tire rotation angle 0t is supplied to the calculator 1 1 9 and multiplied by the gain Ki to form 0adj.
- This value 0adj is supplied to the adder 103 through the switch 120, and is added to the value 0REFpitchO of the stable attitude angle command from the setting unit 1001.
- M ⁇ Ma— ⁇ mi (z i- g) ⁇ ⁇ - ⁇ * ⁇ *
- ZMP is defined as a point on the floor where the moment ⁇ is zero. Substituting the coordinates of the wheel axis height h and the ZMP coordinates as ( ⁇ , one h) into the girl 4]
- Equation 8 is a formula for balancing moments around the wheel axis.
- F is the vector of floor reaction force and rolling friction force
- FN is the floor reaction force
- FT is the rolling friction force.
- the reaction force is actually distributed at the bottom of the tire, but in the figure it is shown as a single point that acts on one point.
- the action point expressed in this way is ZMP.
- Equation 9 is the same as Equation 8.
- Fig. 5 shows that the actual vehicle is on the gradient road surface, and the center of gravity position is controlled on the tire contact point by the control in Fig. 1, so that the system can be balanced and kept stationary.
- Fig. 6 shows a flowchart of operations for performing static control with the configuration shown in Fig. 1. That is, in the static control shown in FIG. 6, first, control parameters are set in step S 1. Here, the control gain ⁇ , Ki is set according to the system weight. Next, in step S2, it is determined whether or not the stationary switch SW120 is on. That is, it is determined whether or not the stationary control is selected.
- step S2 If the stationary switch SW is on in step S2, the change value of the tire rotation angle from when the switch is turned on is read in step S4, and the attitude command correction angle 0adj is calculated. In step S5, the attitude command angle is updated,
- step S7 attitude control calculation is performed, and in step S8, motor torque command Tref is output.
- step S9 the posture changes, and the process returns to step S1.
- the control system of the servo motor is controlled by an inverted pendulum and the control system of the motor position control is doubled, and a control compatible with the control by the brake lever is devised.
- the present invention can provide a traveling device that can stand still on a sloping road surface and a control method therefor.
- the traveling device performs traveling while controlling the driving of the wheel, and includes a control unit that calculates a motor torque for driving the wheel and generates a motor torque command signal.
- a detection means for detecting a rotation angle change value of a wheel drive system driven by a motor torque command signal, an attitude command correction value calculation means for calculating an attitude command correction value from the rotation angle change value, and an occupant's attitude
- the operation means for inputting the command angle, the stationary mode selection switch, and the determination means for determining the presence / absence of the passenger
- the control means is the attitude command angle and attitude command correction value calculation means input to the operation means
- the motor torque is calculated according to the attitude command correction value calculated in step 1, and when the stationary mode is selected with the selection switch, the attitude command correction value is added to the attitude command angle.
- the traveling device control method performs traveling while controlling the driving of the wheel, and calculates the motor torque in accordance with the supplied rotation command, and the motor torque command.
- the position of the wheel drive system driven by the generated motor torque command signal is detected, the rotation angle change value of the wheel drive system is detected, the attitude command correction value is calculated from the rotation angle change value, and the attitude input to the operating means
- the motor torque is calculated according to the command angle and the calculated attitude command correction value, and when the stationary mode is selected, the attitude command angle and the attitude command correction value are added.
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008558135A JP4577442B2 (ja) | 2007-12-03 | 2007-12-03 | 走行装置及びその制御方法 |
US12/667,699 US20100235028A1 (en) | 2007-12-03 | 2007-12-03 | Traveling apparatus and method of controlling same |
CN2007800492790A CN101573250B (zh) | 2007-12-03 | 2007-12-03 | 行驶装置及其控制方法 |
DE602007012296T DE602007012296D1 (de) | 2007-12-03 | 2007-12-03 | Fahrgetriebe und steuerungsverfahren dafür |
EP07850312A EP2093100B1 (en) | 2007-12-03 | 2007-12-03 | Travel gear and its controlling method |
PCT/JP2007/073738 WO2009072215A1 (ja) | 2007-12-03 | 2007-12-03 | 走行装置及びその制御方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2007/073738 WO2009072215A1 (ja) | 2007-12-03 | 2007-12-03 | 走行装置及びその制御方法 |
Publications (1)
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WO2009072215A1 true WO2009072215A1 (ja) | 2009-06-11 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/073738 WO2009072215A1 (ja) | 2007-12-03 | 2007-12-03 | 走行装置及びその制御方法 |
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Country | Link |
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US (1) | US20100235028A1 (ja) |
EP (1) | EP2093100B1 (ja) |
JP (1) | JP4577442B2 (ja) |
CN (1) | CN101573250B (ja) |
DE (1) | DE602007012296D1 (ja) |
WO (1) | WO2009072215A1 (ja) |
Cited By (3)
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JP2011063230A (ja) * | 2009-09-18 | 2011-03-31 | Honda Motor Co Ltd | 倒立振子型車両 |
JP2014234035A (ja) * | 2013-05-31 | 2014-12-15 | 本田技研工業株式会社 | 倒立振子型車両 |
USD853390S1 (en) | 2014-08-11 | 2019-07-09 | Apple Inc. | Backplate for electronic device |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4798181B2 (ja) * | 2008-07-29 | 2011-10-19 | トヨタ自動車株式会社 | 移動体、走行装置、移動体の制御方法 |
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Also Published As
Publication number | Publication date |
---|---|
JP4577442B2 (ja) | 2010-11-10 |
DE602007012296D1 (de) | 2011-03-10 |
CN101573250B (zh) | 2012-06-27 |
JPWO2009072215A1 (ja) | 2011-04-21 |
CN101573250A (zh) | 2009-11-04 |
US20100235028A1 (en) | 2010-09-16 |
EP2093100A1 (en) | 2009-08-26 |
EP2093100A4 (en) | 2009-12-16 |
EP2093100B1 (en) | 2011-01-26 |
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