Title:
CONTROL PORTION FOR INVERTED VEHICLE
Document Type and Number:
WIPO Patent Application WO/2010/125727
Kind Code:
A1
Abstract:
When a load angle θ1 is adjacent to a load angular position reference input θ1*, 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 product of 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 θ1 is adjacent to the load angular position reference input θ1*, and otherwise outputs the linear feedback torque. With this, an inverted vehicle can stably travel at a desired speed without being oscillatory.
Inventors:
ANDOH, Fukashi (1 Toyota-cho, Toyota-sh, Aichi 71, 〒4718571, JP)
Application Number:
JP2010/001309
Publication Date:
November 04, 2010
Filing Date:
February 26, 2010
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA (1 Toyota-cho, Toyota-shi Aichi, 71, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
International Classes:
G05D1/08; B62J25/00; B62K3/00; B62K17/00
Attorney, Agent or Firm:
IEIRI, Takeshi (HIBIKI IP Law Firm, Asahi Bldg. 10th Floor 3-33-8, Tsuruya-cho, Kanagawa-ku, Yokohama-sh, Kanagawa 35, 〒2210835, JP)
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