CONTROL PORTION FOR INVERTED VEHICLE

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 (JP)

Application Number:

PCT/JP2010/001309

Publication Date:

November 04, 2010

Filing Date:

February 26, 2010

Export Citation:

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Assignee:

TOYOTA MOTOR CO LTD (JP)
ANDOH FUKASHI (JP)

International Classes:

G05D1/08; B62J25/00; B62K3/00; B62K17/00

Foreign References:

JP2009073281A	2009-04-09
JP2004174653A	2004-06-24
JP2007280408A	2007-10-25
JP2007011634A	2007-01-18
JP2006205839A	2006-08-10
JP2006123014A	2006-05-18
JP2006315666A	2006-11-24
JP2009109591A	2009-05-21

Other References: