WO2014045696A1 - 移動体 - Google Patents
移動体 Download PDFInfo
- Publication number
- WO2014045696A1 WO2014045696A1 PCT/JP2013/069588 JP2013069588W WO2014045696A1 WO 2014045696 A1 WO2014045696 A1 WO 2014045696A1 JP 2013069588 W JP2013069588 W JP 2013069588W WO 2014045696 A1 WO2014045696 A1 WO 2014045696A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- main body
- angle
- control mode
- wheel
- main
- Prior art date
Links
Images
Classifications
-
- 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
- B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
-
- 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
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
-
- 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
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/463—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
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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 relates to a moving body provided with wheels, and more particularly to a moving body that drives and controls wheels.
- Patent Document 1 describes a coaxial two-wheeled vehicle that performs inverted pendulum control and includes an auxiliary wheel in front of the main wheel.
- the inverted pendulum control is a control that maintains the inclination angle of the main body with respect to the vertical direction at a predetermined angle, and is not a control that stops the main body on the spot. Therefore, for example, on a slope, the main body may move unintentionally due to gravity torque generated by the slope of the slope.
- an object of the present invention is to provide a moving body that prevents the main body from unintentionally moving due to gravity torque on a slope.
- the moving body of the present invention includes a wheel, a main body that rotatably supports the wheel in the pitch direction, a drive control unit that drives and controls the wheel, and an angle that detects an angle change in the pitch direction of the main body. Change detection means and rotation angle detection means for detecting the rotation angle of the wheel.
- the drive control unit is configured so that the angle change of the main body unit becomes zero and the angle of the main body unit with respect to the vertical direction becomes the first angle based on the output of the angle change detection unit.
- the second control for controlling the rotation of the wheel so that the change in the rotation angle of the wheel becomes zero. Run the mode. The first control mode and the second control mode are switched by the switching means.
- the tilt angle of the main body is maintained at the first angle by the inverted pendulum control.
- the drive control unit calculates the torque to be applied to the wheel so as to maintain the inclination angle of the main body unit with respect to the vertical direction at 0 and the angular velocity at 0, and drives the wheel.
- the moving body is in a self-supporting state and does not perform control for stopping the main body portion on the spot, so that the user can use it as a handcart by pressing the main body portion.
- the mode is switched to the second control mode.
- control is performed so that the change in the rotation angle of the wheel becomes zero. That is, the drive control unit sets the rotational angular velocity 0 as a target value when switching from the first control mode to the second control mode, and sets the torque applied to the wheels so that the deviation from the target value becomes zero. calculate. For example, the drive control unit calculates a difference value between the rotational angular velocity 0 of the wheel and the rotational angular velocity of the wheel detected at the present time, and calculates the inclination angle of the main body so that the differential value becomes zero.
- a drive control part calculates the torque applied to a wheel so that the inclination angle with respect to the perpendicular direction of a main-body part may turn into this calculated inclination angle, and an angular velocity may be set to zero.
- the drive control unit controls the tilt angle of the main body unit to be the target tilt angle, but it may be controlled only so that the rotational angular velocity of the wheel becomes zero.
- the switching between the first control mode and the second control mode may be manually instructed by the user.
- a contact sensor that detects whether a human body is touching a part of the main body is used.
- a mode is also possible in which the first control mode is executed when contact is made, and the second control mode is executed when contact is lost.
- the user uses the moving body as a wheelbarrow, the user can go up or down the slope, and when the user releases the hand, the moving body stops on the spot, so that safety is improved.
- the moving body of the present invention is provided with an inclination detection means for detecting the ground inclination (the inclination angle of the ground with respect to the horizontal plane).
- an inclination detection means for detecting the ground inclination (the inclination angle of the ground with respect to the horizontal plane).
- feedforward control in which a torque that compensates for the gravitational torque due to the ground inclination is applied, and the main body that compensates for the gravitational torque due to the ground inclination with respect to the vertical direction. It is also possible to calculate the tilt angle and correct the target tilt angle by feedforward control.
- FIG. 1 is an external view of a coaxial two-wheeled vehicle 1 that is an embodiment of a moving body of the present invention.
- FIG. 2 is a control configuration diagram showing the configuration of the coaxial two-wheeled vehicle 1.
- the coaxial two-wheeled vehicle 1 includes, for example, a rectangular parallelepiped main body 10.
- the main body 10 has a shape that is long in the vertical direction (Z and ⁇ Z directions in the drawing) and short in the depth direction (Y and ⁇ Y directions in the drawing).
- the main body 10 incorporates a control board, a battery, and the like inside.
- a main wheel 11 is attached to the right (X direction) end and the left ( ⁇ X direction) end of the lower part of the main body 10 in the vertically downward direction ( ⁇ Z direction). .
- the pair of main wheels 11 are attached to the same shaft and rotate synchronously. However, these main wheels 11 can be individually driven and rotated.
- the main wheel 11 has shown the example which is 2 wheels, 1 wheel or 3 wheels or more may be sufficient.
- a cylindrical handle 15 is attached to the upper part of the main body 10 in the vertical direction, and a T-shaped grip 16 is attached to the other end of the handle 15.
- the grip portion 16 is provided with a user interface such as a power switch (user I / F 28 shown in FIG. 2).
- a manual brake 29 is attached to the handle 15 at a position close to the grip portion 16 (the manual brake is not an essential component in the present invention).
- the user can grip the grip portion 16 or place a forearm or the like on the grip portion 16 and press the coaxial two-wheel vehicle 1 by friction between the grip portion and the forearm.
- the main body 10 is actually provided with a cover so that the internal substrate and the like cannot be seen in appearance.
- a rod-like support portion 12 is attached to the back surface ( ⁇ Y direction) of the main body portion 10.
- One end of the support portion 12 is rotatably connected to the main body portion 10.
- An auxiliary wheel 13 is attached to the other end of the support portion 12.
- the support part 12 supports the main body part 10 and prevents the main body part 10 from overturning.
- assistant wheel 13 are not essential structures in this invention, even when the main-body part 10 will be in the state largely inclined from the perpendicular direction at the time of power-off by providing the auxiliary
- the support part 12 and the auxiliary wheel 13 may be two or more.
- the coaxial two-wheel vehicle 1 includes an inclination angle sensor 20, a control unit 21, a ROM 22, a RAM 23, a gyro sensor 24, a main wheel drive unit 25, a main wheel rotary encoder 26, a support unit rotary encoder 27, and a user.
- An I / F 28 and a manual brake 29 are provided.
- the control unit 21 is a functional unit that controls the coaxial two-wheeled vehicle 1 in an integrated manner, and implements various operations by reading a program stored in the ROM 22 and developing the program in the RAM 23.
- the tilt angle sensor 20 detects the tilt angle with respect to the vertical direction in the pitch direction of the main body 10 (the rotation direction about the axis of the main wheel 11 in FIG.
- the gyro sensor 24 detects the angular velocity in the pitch direction of the main body unit 10 and outputs it to the control unit 21.
- the coaxial two-wheeled vehicle 1 may further include an acceleration sensor that detects acceleration in each direction of the main body 10, a rotary encoder that detects the rotation angle of the auxiliary wheel 13, and the like.
- the main wheel rotary encoder 26 detects the rotation angle of the main wheel 11 and outputs the detection result to the control unit 21.
- the support unit rotary encoder 27 detects an intersection angle that is an angle formed by the main body unit 10 and the support unit 12, and outputs a detection result to the control unit 21.
- the control unit 21 detects a change in the tilt angle of the main body unit 10 in the pitch direction based on the detection results of the gyro sensor 24 and the tilt angle sensor 20.
- the main wheel drive unit 25 is configured such that the angle change in the pitch direction of the main body 10 becomes zero and the inclination angle of the main body 10 with respect to the vertical direction becomes the first value (0 or a value close to 0). To control.
- FIG. 3 is a block diagram of the control unit 21 in the first control mode.
- the control unit 21 includes a main body inclination angle controller 212 and a main body inclination angular velocity controller 213.
- the main body tilt angle controller 212 inputs a difference value between the target tilt angle (first value: 0 degrees, for example) and the current tilt angle of the main body 10 input from the tilt angle sensor 20, The inclination angular velocity of the main body 10 is calculated so that the difference value becomes zero.
- the main body inclination angular velocity controller 213 inputs a difference value between the inclination angular velocity calculated by the main body inclination angle controller 212 and the current inclination angular velocity of the main body 10 input from the gyro sensor 24, The applied torque is calculated such that the difference value becomes zero.
- the main wheel drive unit 25 is a functional unit that drives a motor that rotates a shaft attached to the main wheel 11, and applies the torque calculated by the main body inclination angular velocity controller 213 to the motor of the main wheel 11, The main wheel 11 is rotated.
- the coaxial two-wheeled vehicle 1 performs the inverted pendulum control as the first control mode, and controls so that the posture of the main body 10 is kept constant.
- the coaxial two-wheeled vehicle 1 can be used as a handcart because it maintains a certain posture even when the user holds the grip 16 and pushes the coaxial two-wheeled vehicle 1.
- an acceleration sensor can also be used, Any other sensor may be used.
- the main body tilt angle controller 212 shows an example of inputting a difference value between a target tilt angle (for example, 0 degree) and the current tilt angle of the main body 10 input from the tilt angle sensor 20.
- the target inclination angle (for example, 0 degree) may be obtained by combining the inclination angle of the main body 10 with respect to the direction perpendicular to the ground and the inclination of the slope.
- the inclination angle of the main body 10 with respect to the direction perpendicular to the ground can be calculated from the intersection angle of the main body 10 and the support 12 input from the support rotary encoder 27.
- the intersection angle of the main body 10 and the support 12 is ⁇ 1
- the inclination angle of the main body 10 with respect to the direction perpendicular to the ground is ⁇ 2
- the length of the main body 10 (the main body 10 and the support L 1 and length) from the intersection point to the main wheel 11 parts 12, the length of the support portion 12 (length from the intersection of the main body portion 10 and the support portion 12 to the auxiliary wheels 13) and L 2
- L 1 cos ⁇ 2 L 2 cos ( ⁇ 1 ⁇ 2 )
- the inclination angle ⁇ 2 of the main body 10 with respect to the direction perpendicular to the ground is
- the coaxial two-wheel vehicle 1 performs the inverted pendulum control as the first control mode, and controls so that the posture of the main body 10 is kept constant.
- the coaxial two-wheeled vehicle 1 of this embodiment can also perform the 2nd control mode which continues still on the spot, performing said inverted pendulum control.
- FIG. 4 is a block diagram of the control unit 21 in the second control mode.
- the control unit 21 in the second control mode includes a tire angular velocity controller 211 in addition to the configuration of the control unit 21 in the first control mode shown in FIG.
- the configurations and functions of the main body tilt angle controller 212 and the main body tilt angular velocity controller 213 are the same as those in the first control mode.
- the first control mode and the second control mode are switched when a switching instruction is given by, for example, a switch provided in the user I / F 28.
- the difference value between the rotational angular velocity ⁇ 2 ′ is input.
- the tire angular velocity controller 211 calculates the inclination angle ⁇ 1ref of the main body 10 such that the difference value becomes zero.
- the tire angular velocity controller 211 outputs an integration process in order to prevent the main body angle tilt angle from being output as 0 and the main body portion 10 from moving when the input difference value instantaneously becomes 0. I do.
- the calculated tilt angle becomes the target tilt angle. Then, a difference value between the target tilt angle and the current tilt angle of the main body 10 input from the tilt angle sensor 20 is input to the main body tilt angle controller 212. Therefore, even if the gravitational torque on the slope works and the main wheel 11 rotates, the torque is calculated such that the change in the rotation angle becomes 0. Therefore, the coaxial two-wheeled vehicle 1 is switched to the second control mode. It will stay in the position at the time. Therefore, in the second control mode, it is possible to prevent the main body 10 from moving unintentionally due to gravity torque on the slope.
- the above example shows an example in which the first control mode and the second control mode are switched when a switching instruction is given by the changeover switch.
- the first control mode may be switched to the second control mode.
- the second control mode is switched to the first control mode.
- the first control mode may be switched to the second control mode only when it is detected that the user's hand has been released and only when a predetermined time has elapsed.
- the second control mode does not necessarily need to be executed while performing the inverted pendulum control of the first control mode, and only the angle control loop that remains in place without performing the posture control loop of the inverted pendulum control. May be executed.
- the control unit 21 in the second control mode includes only the tire angle controller 221.
- the tire angle controller 221 uses the rotation angle ⁇ 2ref which is the value of the signal output from the main wheel rotary encoder 26 at the time of switching to the second control mode as a target value, and the target value and main wheel entering a rotation angle theta 2 of the main wheel 11 at the present time is the value of the signal output from the rotary encoder 26, the difference value.
- the tire angle controller 221 calculates an applied torque such that the difference value becomes zero. Also in this case, even if the gravity torque on the slope works and the main wheel 11 rotates, the torque is calculated so that the change in the rotation angle becomes 0. Therefore, the coaxial two-wheel vehicle 1 is in the second control mode. It will stay at the position at the time of switching to.
- the case where it is detected that the user is in contact with the grip portion 16 is given as the timing for switching from the second control mode to the first control mode.
- the angle may be switched when the angle is within a certain range (for example, ⁇ 5 degrees to ⁇ 3 degrees).
- a certain range for example, ⁇ 5 degrees to ⁇ 3 degrees.
- FIG. 6 is a block diagram of the control unit 21 according to the first modification.
- the control unit 21 includes an inclination estimation unit 214 and a torque command generation unit 215 in addition to the configuration of the control unit 21 in the second control mode illustrated in FIG. I have.
- the configurations and functions of the tire angular velocity controller 211, the main body inclination angle controller 212, and the main body inclination angular velocity controller 213 are the same as those shown in FIG.
- the inclination estimation unit 214 is a value of the rotary encoder 27 for the support unit (that is, the intersection angle ⁇ 1 between the main body unit 10 and the support unit 12) and a value of the tilt angle sensor 20 (that is, the inclination of the main body unit 10 with respect to the vertical direction).
- the angle ⁇ 3 is input and the ground inclination angle ⁇ h is estimated.
- the torque command generation unit 215 inputs the ground inclination angle ⁇ h estimated by the inclination estimation unit 214 and calculates a torque value for compensating for the gravitational torque generated by the ground inclination angle ⁇ h . Therefore, the control unit 21 according to the modified example 1 adds the torque value calculated by the torque command generation unit 215 to the torque value calculated by the main body inclination angular velocity controller 213 and performs feedforward control.
- the torque command generator 215 uses the value “ ⁇ ⁇ mg ⁇ sin ⁇ h ⁇ R” obtained by multiplying the ⁇ 1 by a predetermined feedforward coefficient ⁇ ( ⁇ is 0 to 1) as a correction torque value, and the main body portion.
- the torque is added to the torque value calculated by the tilt angular velocity controller 213.
- FIG. 8 is a block diagram of the control unit 21 according to the second modification.
- the control unit 21 adds to the configuration of the control unit 21 in the second control mode shown in FIG. It has.
- the configurations and functions of the tire angular velocity controller 211, the main body inclination angle controller 212, and the main body inclination angular velocity controller 213 are the same as those shown in FIG.
- the inclination angle command generation unit 216 receives the ground inclination angle ⁇ h from the inclination estimation unit 214 and calculates the inclination angle of the main body 10 for compensating the gravitational torque generated by the ground inclination angle ⁇ h .
- ⁇ sin ⁇ is approximated by ⁇
- the tire angle velocity controller 211 calculates a value “ ⁇ ⁇ ⁇ ” obtained by multiplying the corrected inclination angle ⁇ calculated as described above by a predetermined feedforward coefficient ⁇ ( ⁇ is 0 to 1). Add to the tilt angle.
- ⁇ is 0 to 1.
- the target tilt angle of the main body 10 is the main body 10 that compensates for the gravitational torque due to the ground tilt angle. Therefore, the torque can be applied to the main wheel 11 before the feedback control by the tire angular velocity controller 211 is performed.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
11…主輪
12…支持部
13…補助輪
15…ハンドル
16…グリップ部
20…傾斜角センサ
21…制御部
22…ROM
23…RAM
24…ジャイロセンサ
25…主輪駆動部
26…主輪用ロータリエンコーダ
27…支持部用ロータリエンコーダ
29…手動ブレーキ
211…タイヤ角速度制御器
212…本体部傾斜角度制御器
213…本体部傾斜角速度制御器
Claims (4)
- 車輪と、
該車輪をピッチ方向に回転可能に支持する本体部と、
前記車輪を駆動、制御する駆動制御部と、
前記本体部のピッチ方向の角度変化を検知する角度変化検知手段と、
前記車輪の回転角を検知する回転角検知手段と、
を備えた移動体であって、
前記駆動制御部は、前記角度変化検知手段の出力に基づいて、前記本体部の角度変化が0となるように、かつ前記本体部の鉛直方向に対する角度が第1の角度になるように、前記車輪の回転を制御する第1の制御モードと、
前記回転角検知手段の出力に基づいて、前記車輪の回転角の変化が0となるように前記車輪の回転を制御する第2の制御モードと、
を有し、
前記第1の制御モードと前記第2の制御モードとを切り替える切替手段を備えたことを特徴とする移動体。 - 前記本体部の一部に、人体が前記本体部に触れているか否かを検知する接触検知手段を備え、
前記切替手段は、該接触検知手段の出力に応じて、前記第1の制御モードと前記第2の制御モードとを切り替えることを特徴とする請求項1に記載の移動体。 - 地面斜度を検知する斜度検知手段を備え、
前記第2の制御モードにおいて、さらに、前記斜度検知手段により検知した地面斜度による重力トルクを補償するトルクを印加する請求項1または請求項2に記載の移動体。 - 地面斜度を検知する斜度検知手段を備え、
前記第2の制御モードにおいて、さらに、前記斜度検知手段により検知した地面斜度による重力トルクを補償する前記本体部の鉛直方向に対する角度を算出し、前記第1の角度を補正することを特徴とする請求項1または請求項2に記載の移動体。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014536646A JP5708894B2 (ja) | 2012-09-18 | 2013-07-19 | 手押し車 |
DE112013004517.6T DE112013004517T5 (de) | 2012-09-18 | 2013-07-19 | Beweglicher Körper |
US14/644,285 US9522611B2 (en) | 2012-09-18 | 2015-03-11 | Inverted pendulum vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012-204012 | 2012-09-18 | ||
JP2012204012 | 2012-09-18 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/644,285 Continuation US9522611B2 (en) | 2012-09-18 | 2015-03-11 | Inverted pendulum vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014045696A1 true WO2014045696A1 (ja) | 2014-03-27 |
Family
ID=50341022
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/069588 WO2014045696A1 (ja) | 2012-09-18 | 2013-07-19 | 移動体 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9522611B2 (ja) |
JP (2) | JP5708894B2 (ja) |
DE (1) | DE112013004517T5 (ja) |
WO (1) | WO2014045696A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016013534A1 (ja) * | 2014-07-23 | 2016-01-28 | 株式会社村田製作所 | 手押し車 |
WO2016035683A1 (ja) * | 2014-09-02 | 2016-03-10 | 株式会社村田製作所 | 手押し車 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015098722A1 (ja) * | 2013-12-25 | 2015-07-02 | 株式会社村田製作所 | 手押し車 |
CN113968142B (zh) * | 2020-07-22 | 2024-03-15 | 北京新能源汽车股份有限公司 | 一种能量回收控制方法、装置及汽车 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007336785A (ja) * | 2006-06-19 | 2007-12-27 | Toyota Motor Corp | 走行装置及びその制御方法 |
JP2011168236A (ja) * | 2010-02-22 | 2011-09-01 | Toyota Motor Corp | 移動体 |
WO2012114597A1 (ja) * | 2011-02-23 | 2012-08-30 | 株式会社村田製作所 | 歩行補助車 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3222735B2 (ja) * | 1995-08-28 | 2001-10-29 | 松下電工株式会社 | 手押し車 |
EP2177425A4 (en) * | 2007-08-10 | 2014-06-18 | Equos Res Co Ltd | VEHICLE |
JP5115133B2 (ja) * | 2007-10-12 | 2013-01-09 | 株式会社エクォス・リサーチ | 車両 |
JP5493506B2 (ja) * | 2009-06-30 | 2014-05-14 | アイコム株式会社 | 電動式手押し車 |
JP2011065231A (ja) * | 2009-09-15 | 2011-03-31 | Toyota Motor Corp | 移動体 |
JP5208906B2 (ja) * | 2009-11-13 | 2013-06-12 | 本田技研工業株式会社 | 倒立振子型車両 |
JP2012126224A (ja) * | 2010-12-15 | 2012-07-05 | Bosch Corp | 倒立振子型移動体 |
-
2013
- 2013-07-19 DE DE112013004517.6T patent/DE112013004517T5/de not_active Withdrawn
- 2013-07-19 JP JP2014536646A patent/JP5708894B2/ja not_active Expired - Fee Related
- 2013-07-19 WO PCT/JP2013/069588 patent/WO2014045696A1/ja active Application Filing
-
2015
- 2015-03-03 JP JP2015041487A patent/JP5958581B2/ja not_active Expired - Fee Related
- 2015-03-11 US US14/644,285 patent/US9522611B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007336785A (ja) * | 2006-06-19 | 2007-12-27 | Toyota Motor Corp | 走行装置及びその制御方法 |
JP2011168236A (ja) * | 2010-02-22 | 2011-09-01 | Toyota Motor Corp | 移動体 |
WO2012114597A1 (ja) * | 2011-02-23 | 2012-08-30 | 株式会社村田製作所 | 歩行補助車 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016013534A1 (ja) * | 2014-07-23 | 2016-01-28 | 株式会社村田製作所 | 手押し車 |
JPWO2016013534A1 (ja) * | 2014-07-23 | 2017-04-27 | 株式会社村田製作所 | 手押し車 |
WO2016035683A1 (ja) * | 2014-09-02 | 2016-03-10 | 株式会社村田製作所 | 手押し車 |
JP5935965B1 (ja) * | 2014-09-02 | 2016-06-15 | 株式会社村田製作所 | 手押し車 |
Also Published As
Publication number | Publication date |
---|---|
US20150183340A1 (en) | 2015-07-02 |
JPWO2014045696A1 (ja) | 2016-08-18 |
US9522611B2 (en) | 2016-12-20 |
JP2015158917A (ja) | 2015-09-03 |
JP5708894B2 (ja) | 2015-04-30 |
DE112013004517T5 (de) | 2015-06-03 |
JP5958581B2 (ja) | 2016-08-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5958581B2 (ja) | 手押し車 | |
JP5884930B2 (ja) | 手押し車 | |
US9474678B2 (en) | Pushcart | |
WO2007086176A1 (ja) | 二輪車の転倒防止制御装置 | |
US9089460B2 (en) | Pushcart | |
WO2015033859A1 (ja) | 手押し車 | |
JPWO2011013217A1 (ja) | 操舵制御装置 | |
JP6123907B2 (ja) | 手押し車 | |
WO2016035726A1 (ja) | 手押し車 | |
US9724261B2 (en) | Handcart | |
JP2008160935A (ja) | 車両 | |
JP5800110B2 (ja) | 手押し車 | |
WO2015019982A1 (ja) | 手押し車 | |
JP5565487B1 (ja) | 手押し車 | |
JP6332663B2 (ja) | 2輪倒立振子型車両 | |
JP2007118833A (ja) | 操舵制御装置及びステアリング保持位置検出装置 | |
JP5935965B1 (ja) | 手押し車 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13838496 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2014536646 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112013004517 Country of ref document: DE Ref document number: 1120130045176 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13838496 Country of ref document: EP Kind code of ref document: A1 |