COAXIAL MOTORCYCLE

Title:

COAXIAL MOTORCYCLE

Document Type and Number:

WIPO Patent Application WO/2004/110854

Kind Code:

A1

Abstract:

In a coaxial motorcycle, an attitude controller (84) calculates the motor torque (Tgyr) for maintaining the base at a target angle, from the difference between a base angle command (Ѳref) which is an attitude command, and the present base angle (Ѳ₀) calculated using a gyro sensor (13), and an acceleration sensor (14). On the other hand, in a position proportional controller (86R), a differentiator (88R) and a speed proportional controller (89R), PD control is effected as to the difference between the rotation position command (Prefr) for a right-wheel motor rotor (92R) and the present rotary position (Ѳr) of the motor rotor (92R). A current control amplifier (91R) produces a motor current on the basis of the addition of the motor torque which is the result of this control and an estimated load torque (T₁) calculated using the motor torque (Tgyr) and a pressure sensor, and drives the motor rotor (92R).

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Inventors:

ISHII SHINJI (JP)

Application Number:

PCT/JP2004/008069

Publication Date:

December 23, 2004

Filing Date:

June 03, 2004

Export Citation:

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Assignee:

SONY CORP (JP)
ISHII SHINJI (JP)

International Classes:

A63C17/12; B62K1/00; B62K17/00; (IPC1-7): B62K17/00; B62K3/00; B62J39/00; A63C17/01

Foreign References:

US6408240B1	2002-06-18
JPH1023613A	1998-01-23
JPS63275913A	1988-11-14
JPH08133170A	1996-05-28
JPH07160995A	1995-06-23
JPS647109A	1989-01-11
JPH0887324A	1996-04-02
JPS63305082A	1988-12-13
US5971091A	1999-10-26

Other References: