JP5088061B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP5088061B2 JP5088061B2 JP2007242880A JP2007242880A JP5088061B2 JP 5088061 B2 JP5088061 B2 JP 5088061B2 JP 2007242880 A JP2007242880 A JP 2007242880A JP 2007242880 A JP2007242880 A JP 2007242880A JP 5088061 B2 JP5088061 B2 JP 5088061B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- vehicle body
- active weight
- road surface
- inclination angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Images
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
Description
θW :駆動輪回転角〔rad〕
θ1 :車体傾斜角(鉛直軸基準)〔rad〕
λS :能動重量部位置(車体中心点基準)〔m〕
τW :駆動トルク(2つの駆動輪の合計)〔Nm〕
SS :能動重量部推力〔N〕
g:重力加速度〔m/s2 〕
η:路面勾配〔rad〕
mW :駆動輪質量(2つの駆動輪の合計)〔kg〕
RW :駆動輪接地半径〔m〕
IW :駆動輪慣性モーメント(2つの駆動輪の合計)〔kgm2 〕
DW :駆動輪回転に対する粘性減衰係数〔Nms/rad〕
m1 :車体質量(能動重量部を含む)〔kg〕
l1 :車体重心距離(車軸から)〔m〕
I1 :車体慣性モーメント(重心周り)〔kgm2 〕
D1 :車体傾斜に対する粘性減衰係数〔Nms/rad〕
mS :能動重量部質量〔kg〕
lS :能動重量部重心距離(車軸から)〔m〕
IS :能動重量部慣性モーメント(重心周り)〔kgm2 〕
DS :能動重量部並進に対する粘性減衰係数〔Nms/rad〕
12 駆動輪
14 搭乗部
20 制御ECU
Claims (5)
- 回転可能に車体に取り付けられた駆動輪と、
該駆動輪に付与する駆動トルクを制御して前記車体の姿勢を制御する車両制御装置とを有し、
該車両制御装置は、坂道においては、車両速度に応じて前記車体の傾斜角を制御し、進行方向と逆方向に前記車体を傾斜させるように前記車体の傾斜角を制御するとともに、前記車両速度の増加とともに前記車体の傾斜角を路面に対して垂直に近付けることを特徴とする車両。 - 前記車両制御装置は、登坂路においては前記車体を後方に傾斜させ、降坂路においては前記車体を前方に傾斜させる請求項1に記載の車両。
- 前記車体に対して移動可能に取り付けられた能動重量部を有し、
前記車両制御装置は、前記能動重量部の位置を制御することで前記車体の傾斜角を制御する請求項1又は2に記載の車両。 - 前記車両制御装置は、前記車体の傾斜方向と逆方向に前記能動重量部を移動させる請求項3に記載の車両。
- 前記車両制御装置は、車両が停止状態にあるとき、前記車体の傾斜角をゼロにする請求項1〜4のいずれか1項に記載の車両。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007242880A JP5088061B2 (ja) | 2007-09-19 | 2007-09-19 | 車両 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007242880A JP5088061B2 (ja) | 2007-09-19 | 2007-09-19 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009073281A JP2009073281A (ja) | 2009-04-09 |
JP5088061B2 true JP5088061B2 (ja) | 2012-12-05 |
Family
ID=40608713
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007242880A Expired - Fee Related JP5088061B2 (ja) | 2007-09-19 | 2007-09-19 | 車両 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5088061B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5093185B2 (ja) | 2009-04-28 | 2012-12-05 | トヨタ自動車株式会社 | 倒立型移動体の制御装置 |
JP5565487B1 (ja) * | 2013-03-01 | 2014-08-06 | 株式会社村田製作所 | 手押し車 |
JP5979321B2 (ja) * | 2013-12-25 | 2016-08-24 | 株式会社村田製作所 | 手押し車 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007237750A (ja) * | 2006-03-03 | 2007-09-20 | Toyota Motor Corp | 倒立振子型移動体 |
-
2007
- 2007-09-19 JP JP2007242880A patent/JP5088061B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2009073281A (ja) | 2009-04-09 |
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