Title:
VEHICLE CONTROL BY PITCH MODULATION
Document Type and Number:
Japanese Patent JP2017184611
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface.SOLUTION: The vehicle has at least one forward wheel and at least one aft wheel, and a force normal to the instantaneous direction of motion of the vehicle is applied to the forward wheel. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators so as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel based on a vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation is applied to the aft wheel, and a stabilizing torque is provided based on a detected response regarding either the vehicle pitch or the normal force on the front wheel. Left and right motor actuators respectively control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.SELECTED DRAWING: Figure 3
Inventors:
KAMEN DEAN
AMBROGI ROBERT R
FLYNN CATHARINE N
KERWIN JOHN M
AMBROGI ROBERT R
FLYNN CATHARINE N
KERWIN JOHN M
Application Number:
JP2017109106A
Publication Date:
October 05, 2017
Filing Date:
June 01, 2017
Export Citation:
Assignee:
DEKA PRODUCTS LP
International Classes:
B60L15/20; A61G5/04; B60W10/18; B60W30/02; B62K5/007; B62K17/00; B62M1/00; B60W40/12
Attorney, Agent or Firm:
Hidesaku Yamamoto
Natsuki Morishita
Natsuki Morishita