Title:
SELF-PROPELLED VEHICLE, AND DEVICE AND METHOD FOR CONTROLLING SAME
Document Type and Number:
WIPO Patent Application WO/2010/035324
Kind Code:
A1
Abstract:
A self-propelled vehicle comprises a vehicle body, a pair of right and left wheels, a first motor for driving one of the pair of right and left wheels, a second motor for driving the other, means for receiving a motor current command value of the first motor to regulate the motor current of the first motor, means for receiving the motor current command value and the actual operation amount of the first motor to calculate the disturbance torque exerted on the first motor, means for correcting the motor current command value according to the disturbance torque, means for receiving a motor current command value of the second motor to regulate the motor current passed through the second motor, means for receiving the motor current command value and the actual operation amount of the second motor to calculate the disturbance torque exerted on the second motor, and means for correcting the motor current command value of the second motor according to the disturbance torque. The self-propelled vehicle can continue traveling properly even when the disturbance torque is exerted thereon.
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Inventors:
SENBA YOSHIYUKI (JP)
YAMADA KOJI (JP)
IZUO TAKASHI (JP)
SERAI TAKUYA (JP)
KOIDE MITSUO (JP)
SUKIGARA KAZUTOSHI (JP)
HAYASHI CHISAO (JP)
YAMADA KOJI (JP)
IZUO TAKASHI (JP)
SERAI TAKUYA (JP)
KOIDE MITSUO (JP)
SUKIGARA KAZUTOSHI (JP)
HAYASHI CHISAO (JP)
Application Number:
PCT/JP2008/067343
Publication Date:
April 01, 2010
Filing Date:
September 25, 2008
Export Citation:
Assignee:
TOYOTA MOTOR CO LTD (JP)
SENBA YOSHIYUKI (JP)
YAMADA KOJI (JP)
IZUO TAKASHI (JP)
SERAI TAKUYA (JP)
KOIDE MITSUO (JP)
SUKIGARA KAZUTOSHI (JP)
HAYASHI CHISAO (JP)
SENBA YOSHIYUKI (JP)
YAMADA KOJI (JP)
IZUO TAKASHI (JP)
SERAI TAKUYA (JP)
KOIDE MITSUO (JP)
SUKIGARA KAZUTOSHI (JP)
HAYASHI CHISAO (JP)
International Classes:
B62K17/00; B60L5/20; B62K3/00
Foreign References:
| JP2007124866A | 2007-05-17 | |||
| JP2008024235A | 2008-02-07 | |||
| JP2008018931A | 2008-01-31 | |||
| JPS63305082A | 1988-12-13 |
Attorney, Agent or Firm:
KAI-U PATENT LAW FIRM (JP)
Patent business corporation KAI-U Patent Law Firm (JP)
Patent business corporation KAI-U Patent Law Firm (JP)
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