JP5115133B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP5115133B2 JP5115133B2 JP2007266010A JP2007266010A JP5115133B2 JP 5115133 B2 JP5115133 B2 JP 5115133B2 JP 2007266010 A JP2007266010 A JP 2007266010A JP 2007266010 A JP2007266010 A JP 2007266010A JP 5115133 B2 JP5115133 B2 JP 5115133B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- vehicle body
- active weight
- control ecu
- road surface
- 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
Links
- 238000000034 method Methods 0.000 description 43
- 230000008569 process Effects 0.000 description 39
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- 230000006870 function Effects 0.000 description 19
- 230000005484 gravity Effects 0.000 description 14
- 238000012545 processing Methods 0.000 description 12
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000009194 climbing Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
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- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 238000004260 weight control Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (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
53 制動装置
Claims (1)
- 回転可能に車体に取り付けられた駆動輪と、
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と、
前記駆動輪に付与する駆動トルクと前記能動重量部の位置とのうちの少なくとも1つを制御して前記車体の姿勢を制御する車両制御装置と、
時間を計時するタイマとを有し、
前記車両制御装置は、坂道で停車している場合、前記タイマによって、停車している状態が所定時間以上の継続が計時されると、前記能動重量部の位置のみを制御して前記車体の姿勢を制御することを特徴とする車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007266010A JP5115133B2 (ja) | 2007-10-12 | 2007-10-12 | 車両 |
PCT/JP2008/067789 WO2009048004A1 (ja) | 2007-10-12 | 2008-10-01 | 車両 |
CN2008801112986A CN101821155B (zh) | 2007-10-12 | 2008-10-01 | 车辆 |
US12/682,736 US8504282B2 (en) | 2007-10-12 | 2008-10-01 | Vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007266010A JP5115133B2 (ja) | 2007-10-12 | 2007-10-12 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009090938A JP2009090938A (ja) | 2009-04-30 |
JP5115133B2 true JP5115133B2 (ja) | 2013-01-09 |
Family
ID=40549149
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007266010A Expired - Fee Related JP5115133B2 (ja) | 2007-10-12 | 2007-10-12 | 車両 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8504282B2 (ja) |
JP (1) | JP5115133B2 (ja) |
CN (1) | CN101821155B (ja) |
WO (1) | WO2009048004A1 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4735598B2 (ja) * | 2007-04-27 | 2011-07-27 | トヨタ自動車株式会社 | 倒立車輪型移動体、及びその制御方法 |
CN101568465B (zh) * | 2007-08-28 | 2011-05-11 | 松下电器产业株式会社 | 倒立双轮式搬运车及其控制方法 |
CN101821122A (zh) * | 2007-12-27 | 2010-09-01 | 爱考斯研究株式会社 | 车辆 |
CN102574560B (zh) * | 2009-09-18 | 2014-06-18 | 本田技研工业株式会社 | 倒立摆型移动体 |
US9027681B2 (en) | 2009-12-04 | 2015-05-12 | Massachusetts Institute Of Technology | Hybrid sensor-enabled electric wheel and associated systems, multi-hub wheel spoking systems, and methods of manufacturing and installing wheel spokes |
CN105035228B (zh) * | 2010-02-26 | 2018-10-09 | 塞格威股份有限公司 | 车辆控制的装置和方法 |
KR101079755B1 (ko) | 2010-06-14 | 2011-11-03 | 김준형 | 핸즈프리형 전동스쿠터 |
JP2012126224A (ja) * | 2010-12-15 | 2012-07-05 | Bosch Corp | 倒立振子型移動体 |
WO2014045696A1 (ja) * | 2012-09-18 | 2014-03-27 | 株式会社村田製作所 | 移動体 |
JP6032119B2 (ja) * | 2013-05-07 | 2016-11-24 | トヨタ自動車株式会社 | 倒立移動体及びその制御方法 |
WO2015154046A1 (en) | 2014-04-04 | 2015-10-08 | Superpedestrian, Inc. | Systems, methods, and devices for the operation of electrically motorized vehicles |
US10005317B2 (en) | 2014-04-04 | 2018-06-26 | Superpedestrian, Inc. | Devices and methods of thermal management for a motorized wheel |
US10308065B2 (en) | 2014-04-04 | 2019-06-04 | Superpedestrian, Inc. | Devices and methods for connecting a spoke to a hub |
KR101601104B1 (ko) * | 2014-09-22 | 2016-03-08 | 현대자동차주식회사 | G센서를 이용한 도로 구배 연산 장치 및 방법 |
CN107206907B (zh) | 2014-11-24 | 2020-02-14 | 极步公司 | 机动车轮的设备和方法 |
CN105116817A (zh) * | 2015-06-26 | 2015-12-02 | 小米科技有限责任公司 | 平衡车管理方法及装置 |
CN112154388A (zh) * | 2019-08-06 | 2020-12-29 | 深圳市大疆创新科技有限公司 | 控制方法、控制设备、可移动平台以及存储介质 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0415713A (ja) * | 1990-05-01 | 1992-01-21 | Komatsu Ltd | 平行2輪車の姿勢制御方法 |
US6561294B1 (en) * | 1995-02-03 | 2003-05-13 | Deka Products Limited Partnership | Balancing vehicle with passive pivotable support |
JPH09130909A (ja) * | 1995-10-31 | 1997-05-16 | Sanyo Electric Co Ltd | 電気自動車の駆動制御装置 |
JPH11143540A (ja) * | 1997-11-05 | 1999-05-28 | Mazda Motor Corp | 搬送車の制御装置 |
JP3892236B2 (ja) * | 2001-02-20 | 2007-03-14 | 本田技研工業株式会社 | ハイブリッド車両の制御装置 |
JP4178830B2 (ja) * | 2002-05-08 | 2008-11-12 | 日産自動車株式会社 | 燃料改質システム |
JP2004129435A (ja) | 2002-10-04 | 2004-04-22 | Sony Corp | 搬送装置、制御方法、及び駆動機構 |
DE10392965D2 (de) * | 2002-10-11 | 2005-04-07 | Luk Lamellen & Kupplungsbau | Verfahren und System zum Steuern wenigstens eines Aktors im Antriebsstrang eines Fahrzeuges |
JP4089512B2 (ja) * | 2003-05-22 | 2008-05-28 | トヨタ自動車株式会社 | 倒立振子型台車ロボット |
JP4124035B2 (ja) * | 2003-06-26 | 2008-07-23 | ヤマハ株式会社 | 省エネ評価システム |
WO2006095823A1 (ja) * | 2005-03-11 | 2006-09-14 | Equos Research Co., Ltd. | 車両 |
JP4760162B2 (ja) * | 2005-06-29 | 2011-08-31 | トヨタ自動車株式会社 | 移動台車の制御方法及び移動台車 |
JP4291822B2 (ja) * | 2006-02-03 | 2009-07-08 | トヨタ自動車株式会社 | 倒立車輪型の走行体 |
-
2007
- 2007-10-12 JP JP2007266010A patent/JP5115133B2/ja not_active Expired - Fee Related
-
2008
- 2008-10-01 US US12/682,736 patent/US8504282B2/en active Active
- 2008-10-01 WO PCT/JP2008/067789 patent/WO2009048004A1/ja active Application Filing
- 2008-10-01 CN CN2008801112986A patent/CN101821155B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US8504282B2 (en) | 2013-08-06 |
CN101821155A (zh) | 2010-09-01 |
JP2009090938A (ja) | 2009-04-30 |
US20100280745A1 (en) | 2010-11-04 |
WO2009048004A1 (ja) | 2009-04-16 |
CN101821155B (zh) | 2012-11-21 |
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