Title:
MOVING BODY AND MOVING BODY CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2008/029751
Kind Code:
A1
Abstract:
An inverted pendulum moving body in which the speed target value is used as an input variable,
and inversion stability control and travel control are performed according
to the speed target value. The variation of the angle of inclination of the vehicle
body occurring when the vehicle travels is smoothened. A target value creating
section (100) which an inverted pendulum moving body (1) has creates a speed target
value VREF with respect to the moving body (1) and an inclination angular
velocity target value ωREF with respect to the vehicle body
(11) in such a way that the second derivative of VREF with respect to
time is continuous and ωREF is continuous with respect to time.
A controller (107) which the inverted pendulum moving body (1) has calculates the
torque command value τCOM to motor drivers (16a, 16b) with VREF
and ωREF used as the control targets so that the moving body (1)
may travel according to VREF while maintaining the state that the center
of gravity of the vehicle body (11) or the gravity of the total mass of the total
of the vehicle body (11) and the object supported on the vehicle body is above the
rotation center position of the wheels (10a, 10b).
Inventors:
YAMADA, Koji (1 Toyota-cho, Toyota-sh, Aichi 71, 4718571, JP)
Application Number:
JP2007/067113
Publication Date:
March 13, 2008
Filing Date:
August 28, 2007
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; B60L15/20; B62K3/00; B62K17/00; G05B11/36; G05D1/08; B60L15/20; B62K3/00; B62K17/00; G05B11/36
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)