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Control portion for inverted vehicle

A technology of control device and moving body, applied in non-electric variable control, attitude control, control/adjustment system, etc., can solve the problems of swing and unable to stably maintain the target attitude, etc.

Active Publication Date: 2012-04-04
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0015] With such a configuration, if the feedback corresponding to the deviation from the target attitude is continuously applied as in the past, the target attitude cannot be stably maintained and swings around the target will occur.

Method used

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  • Control portion for inverted vehicle
  • Control portion for inverted vehicle
  • Control portion for inverted vehicle

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0045] figure 1 It is a figure which shows 1st Embodiment concerning an inverted mobile body of this invention.

[0046] The inverted type mobile body includes: a mobile body main body 141 as a control object; a state sensor (sensors) 142, which detects the state of the mobile body main body 141; a command portion (reference portion) 100, which indicates a desired target state; and a control device 110 , which executes control of the moving body main body 141 based on a measurement signal detected by the state sensor 142 and an instruction value from the instruction unit 100 .

[0047] As the mobile body main body 141, a coaxial two-wheeled vehicle ( Figure 7 ), inverted autonomous driving robot ( Figure 8 ) and other general examples.

[0048]The present invention is not limited thereto, and any mobile body may be any vehicle as long as it includes a wheel-based drive unit and a rod-shaped load body, and performs balance control to turn the rod-shaped load body upside d...

experiment example

[0214] Next, experimental examples for demonstrating the effects of the present invention are shown.

[0215] As an experimental example, simulation results of the first embodiment are shown.

[0216] Here, numerical values ​​used for simulation are as follows.

[0217] m 1 =70[kg],

[0218] J 1 =25.2[kg·m 2 ],

[0219] m 2 =15[kg],

[0220] J 2 =0.075[kg·m 2 ],

[0221] I=0.9[m],

[0222] r=0.1[m],

[0223] D=0.1[N·s / m],

[0224] g=9.8[m / s 2 ],

[0225] T=1×10 -3 [s],

[0226] κ=40[s -1 ],

[0227] J 10 = m 1 × I 2 +J 1 [kg·m 2 ],

[0228] beta 0 =2πκ[s -1 ],

[0229] β=β 0 ×J 10 [N·m·s / rad],

[0230] γ=0.1[N·m·s / rad],

[0231] pcl=[-49.9, -201.4][rad / s],

[0232] td=0.5[s]

[0233] in,

[0234] m 1 is the load mass,

[0235] J 1 is the load moment of inertia,

[0236] m 2 is the wheel mass,

[0237] J 2 is the moment of inertia of the wheel,

[0238] I is the distance between the centers of gravity of the loaded wheels,

[0239] r i...

Deformed example 1

[0264] In the above-mentioned first embodiment, the attenuation parameter γ is a value calculated by the attenuation parameter calculator 122 according to the above formula (20), but the attenuation parameter γ may also be a preset fixed value.

[0265] That is, if Figure 5 As shown, it is also possible to store the preset damping parameter setting in the damping parameter memory 125, and provide the value of the damping parameter γ from the damping parameter memory 125 to the situation-distinguishing linear torque calculator 123 .

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Abstract

When a load angle ?1 is adjacent to a load angular position reference input ?1*, a control is performed such that only damping is applied to an inverted vehicle (141). That is, a control portion (110) includes a switching linear torque unit (123) and a control switching unit (124). The switching linear torque unit (123) calculates a damping torque obtained by applying a negative sign to a productof a load speed and a damping parameter and a linear feedback torque obtained by multiplying one or more of a position tracking error, a speed tracking error, and an acceleration tracking error by a predetermined gain. The control switching unit (124) switches between outputting the damping torque and outputting the linear feedback torque. The control switching unit (124) outputs the damping torque when the load angle ?1 is adjacent to the load angular position reference input ?1*, and otherwise outputs the linear feedback torque. With this, an inverted vehicle can stably travel at a desired speed without being oscillatory.

Description

technical field [0001] The present invention relates to a control device (control portion, control portion) of an inverted mobile body. More specifically, the present invention relates to a control device for an inverted moving body that includes a wheel drive unit and a rod-shaped load body and that moves while performing balance control to make the rod-shaped load body stand upside down. Background technique [0002] There is known a mobile device that includes a pair of left and right wheels arranged coaxially, and travels while maintaining an inverted state. For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2006-123014 ) discloses an inverted two-wheeled traveling robot that automatically travels while maintaining an inverted state. In addition, Patent Document 2 (Japanese Patent Application Laid-Open No. 2006-315666 ) discloses a coaxial two-wheeled vehicle that travels while maintaining balance while a person rides on the pedals in a standing p...

Claims

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Application Information

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IPC IPC(8): G05D1/08B62J25/00B62K3/00B62K17/00
CPCB62K3/007G05D1/08G05D1/0891B62K11/007
Inventor 安藤玄
Owner TOYOTA JIDOSHA KK
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