CONTROL METHOD FOR MOVING CARRIAGE

Title:

CONTROL METHOD FOR MOVING CARRIAGE

Document Type and Number:

WIPO Patent Application WO/2007/001083

Kind Code:

A1

Abstract:

A control method for a moving carriage having wheels (2) and (3) driven by motors (4) and (5) as drive means, a carriage body (1) supported on the wheels (2) and (3), and a control computer (10) as a control means to provide control instruction values to the motors (4) and (5). The gravity center of the carriage body (1) is positioned above the rotating axis of the wheels (2) and (3). The control computer (10) estimates an external force moment as the inertia moment of the wheels (2) and (3) around their rotating axis generated by an external force applied to the carriage body (1), sets, as a target carriage body inclination angle, the inclination angle of the carriage body (1) at which the gravity moment of the gravity center of the carriage body (1) around the rotating axis of the wheels is kept in balance with the external moment, and based on the target vehicle body inclination angle, calculates torque instruction values to the motors (4) and (5).

Inventors:

FUWA TOSHIO (JP)
NAKASHIMA ISSEI (JP)

Application Number:

PCT/JP2006/313201

Publication Date:

January 04, 2007

Filing Date:

June 27, 2006

Export Citation:

Click for automatic bibliography generation Help

Assignee:

TOYOTA MOTOR CO LTD (JP)
FUWA TOSHIO (JP)
NAKASHIMA ISSEI (JP)

International Classes:

G05D1/08; B62K17/00; B60L15/20

Foreign References:

JP2004295430A	2004-10-21
JP2004276727A	2004-10-07
JPH0415713A	1992-01-21
JPS63305082A	1988-12-13

Other References: