WO2007001083A1 - 移動台車の制御方法及び移動台車 - Google Patents
移動台車の制御方法及び移動台車 Download PDFInfo
- Publication number
- WO2007001083A1 WO2007001083A1 PCT/JP2006/313201 JP2006313201W WO2007001083A1 WO 2007001083 A1 WO2007001083 A1 WO 2007001083A1 JP 2006313201 W JP2006313201 W JP 2006313201W WO 2007001083 A1 WO2007001083 A1 WO 2007001083A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle body
- wheel
- angular velocity
- control
- inclination angle
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005484 gravity Effects 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims description 26
- 230000007423 decrease Effects 0.000 claims description 25
- 230000003247 decreasing effect Effects 0.000 claims description 16
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 description 13
- 230000010354 integration Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
-
- 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
- B62K17/00—Cycles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/28—Trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/18—Acceleration lateral
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/20—Acceleration angular
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to an inverted pendulum type moving cart control method and a moving cart in which the center of gravity of a vehicle body is located above the rotation axis of a wheel.
- Japanese Unexamined Patent Publication No. 2 0 4-2 9 5 4 3 0 discloses a movable carriage having a wheel and a vehicle body supported by the wheel, the center of gravity of which is located above the rotation axis of the wheel. ing.
- the control of the carriage translation direction (direction orthogonal to the axle) in which the inverted pendulum control and the position control are performed, and the control of the carriage rotation direction (axle turning direction) in which only the position control is performed are performed.
- This movable carriage has a control means for calculating a control command value (torque command value for the motor) to the wheel drive means so that the vehicle body is maintained upside down.
- a control command value torque command value for the motor
- it has robustness so that it can be stably inverted. As a result, even if the trolley installation surface is inclined or the load fluctuates, the vehicle body can be stably inverted.
- the state quantity (observed quantity) includes the wheel angle (the rotation angle of the wheel with respect to the vehicle body), the wheel angular velocity that is a derivative of this wheel angle, and the vehicle body tilt angle (vertical direction).
- the vehicle body tilt angle velocity which is a single derivative of the vehicle body tilt angle, is used.
- the control input is determined so that all the state quantities are zero.
- the wheel angle and the vehicle body tilt angle are calculated in order to calculate the torque command value to the motor. Because it uses 1 input (axle torque) and 2 outputs (wheel angle / body inclination angle), there is a trade-off in the controllability of the two outputs (the relationship that the other is disadvantageous if one condition is met) ) Existed, and the following troubles may have occurred when the disturbance applied to the cart increased.
- the carriage can be stopped at that position with little movement.
- the disturbance applied to the vehicle body is a large disturbance, such as a steady disturbance or a large transient change
- the vehicle body tilt angle and wheel angle At the same time, it cannot be set to 0, and the convergence of the vibration around the original position (position before the disturbance is applied) will deteriorate.
- the wheel position moves greatly (the wheel angle changes greatly).
- an action is taken such that the passenger jumps into the vehicle body with respect to the moving carriage, a large movement of the wheel position is unavoidable and the riding performance deteriorates.
- a heavy object was mounted at a position different from the center of gravity of the car body in the direction of carriage movement, or a person got on the car body using a suspension mechanism such as an arm provided on the upper part of the car to lift the heavy object.
- a suspension mechanism such as an arm provided on the upper part of the car to lift the heavy object.
- the position of the center of gravity of the vehicle body changes, and it is impossible to stop on the spot.
- the present invention allows the movement of the carriage (wheel position) even when a large external force is applied to the vehicle body.
- the vehicle includes a wheel driven by a driving means, a vehicle body supported by the wheel, and a control means for giving a control command value to the driving means.
- a control method for a movable carriage located above a rotation axis of the wheel wherein the control means estimates an external force moment that is an inertia moment around the rotation axis generated by an external force applied to the vehicle body, and the estimated external force Based on the moment, a gravitational moment around the rotation axis of the center of gravity of the vehicle body is set as a target vehicle body tilt angle that balances with the external force moment, and the control is performed based on the target vehicle body tilt angle.
- the command value is calculated.
- the external force moment is obtained by a disturbance observer.
- a disturbance observer that estimates disturbance as a state quantity
- the external force moment generated by the external force applied to the vehicle body is estimated as a state quantity, and this estimated disturbance included in the parameter fluctuation is controlled. It is an offset.
- the external force moment can be obtained by using an existing sensor or the like without providing a new sensor or the like for detecting the state quantity.
- the wheel driven by the driving means the vehicle body supported by the wheel, and the control means for giving a control command value to the driving means.
- a center of gravity of the vehicle body is positioned above the rotation axis of the wheel, wherein the mobile vehicle detects at least one of an inclination angle and an inclination angular velocity of the vehicle body.
- the control means may use an increase / decrease value of the target tilt angle as an absolute value of the tilt angle or the tilt angular velocity of the vehicle body detected by the first detection means. Increase or decrease according to the size.
- the control means uses the increase / decrease value of the target inclination angle as an evaluation index with at least one of the inclination angle or the inclination angular velocity of the vehicle body, The learning is performed sequentially so as to reduce the fluctuation of the inclination and the angular velocity.
- the vehicle includes a wheel driven by driving means, a vehicle body supported by the wheels, and control means for giving a control command value to the driving means, Is a control method for a moving carriage positioned above the rotation axis of the wheel, wherein the moving carriage detects at least one of an inclination angle and an inclination angular velocity of the vehicle body, At least of rotation angle and angular velocity A second detection means for detecting one of the control command values, wherein the control means is detected by the second detection means in a state in which a command value for moving the vehicle body is not generated among the control command values.
- the angular velocity of the wheel is a value of 0 or less
- the target inclination angle of the vehicle body is increased or decreased until the angular velocity becomes 0, and the control command value is calculated based on the target inclination angle. is there.
- control means increases or decreases the increase / decrease value of the target tilt angle according to the magnitude of the absolute value of the angular velocity of the wheel detected by the second detection means. To do.
- the control means uses the increase / decrease value of the target inclination angle as an evaluation index of at least one of the rotation angle or angular velocity of the wheel, and the magnitude of the rotation angle of the wheel. And it learns sequentially so as to reduce the fluctuation of angular velocity.
- the movable carriage of the present invention includes a wheel driven by the driving means, a vehicle body supported by the wheel, and a control means for giving a control command value to the driving means, and the center of gravity of the vehicle body is the wheel.
- the control means is configured to estimate an external force moment that is an inertia moment around the rotation shaft generated by an external force applied to the vehicle body, and based on the estimated external force moment A gravitational moment about the rotation axis of the center of the vehicle body is set as a target vehicle body tilt angle, which is balanced with the external force moment, based on the target vehicle body tilt angle, and the control command value Is calculated.
- the target vehicle body tilt angle derived from the estimated external force moment Based on this, by calculating the control command value to the driving means, the apparent vehicle body inclination angle becomes 0, and even when an external force is generated, it is possible to stop still. In other words, even if a large external force is applied to the vehicle body, the trolley (wheel position) does not move dreams, and stable position control on the spot is possible, improving human rideability and loadability. .
- the mobile carriage of the present invention includes a wheel driven by the driving means, a vehicle body supported by the wheel, and a control means for giving a control command value to the driving means, and the center of gravity of the vehicle body is the A movable carriage positioned above a rotation axis of a wheel, wherein the first detection means detects at least one of an inclination angle and an inclination angular velocity of the vehicle, and detects at least one of the rotation angle and the angular velocity of the wheel.
- the vehicle body detected by the first detection unit in a state in which the control command value does not issue a command value for moving the vehicle body, among the control command values.
- the target tilt angle of the vehicle body is increased or decreased until the tilt angle or tilt angular velocity becomes zero, and the target tilt angle is set to the target tilt angle. Based on this, the control command value is calculated.
- the mobile carriage of the present invention includes a wheel driven by the driving means, a vehicle body supported by the wheel, and a control means for giving a control command value to the driving means, and the center of gravity of the vehicle body is the A movable carriage positioned above a rotation axis of a wheel, wherein the first detection means detects at least one of an inclination angle and an inclination angular velocity of the vehicle, and detects at least one of the rotation angle and the angular velocity of the wheel. And the control means, wherein the control means is not emitting a command value for moving the vehicle body among the control command values, and the wheel is detected by the second detection means.
- the target tilt angle of the vehicle body is increased or decreased until the angular velocity becomes 0, and the control command value is calculated based on the target tilt angle.
- the moving distance from when an external force due to disturbance is applied to the vehicle body until the moving carriage is stably stopped is shortened. Thereby, for example, it is possible to improve the loadability such as loading and unloading of heavy objects and the rideability of people in the two-wheeled state of the moving carriage.
- FIG. 1 is a perspective view showing a schematic configuration of a mobile carriage according to the present invention.
- FIG. 2 is a control block diagram showing the configuration of the control system of the mobile carriage.
- Fig. 3 shows a model of a moving carriage with respect to the translation direction.
- FIG. 4 is a flowchart showing the processing procedure performed by the control computer. BEST MODE FOR CARRYING OUT THE INVENTION
- the movable carriage according to the present invention has left and right wheels 2 and 3 disposed at the lower part of a carriage body (hereinafter referred to as “vehicle body”) 1 having a substantially rectangular parallelepiped frame. Both wheels 2 and 3 are arranged symmetrically on the same rotational axis, and the vehicle body 1 can tilt in a direction perpendicular to the rotational axis.
- a motor 4 as a driving means is connected to the right wheel 2, and a motor 5 as a driving means is connected to the left wheel 3 in the same way.
- Each motor 4 ⁇ 5 is provided with an encoder 4 a ⁇ 5 a (see Fig. 2) for detecting the rotation angle of each motor.
- a 1-axis gyro sensor 7 is arranged in a direction perpendicular to the rotation axis of both wheels 2 and 3 (the tilting direction of the vehicle body 1). Therefore, the gyro sensor 7 detects the inclination angular velocity of the vehicle body 1 (hereinafter referred to as “vehicle inclination angular velocity”).
- vehicle inclination angular velocity The sensor for measuring the vehicle body inclination angle velocity is not limited to the gyro sensor.
- a gravitational acceleration sensor or a weight suspension type inclination angle meter can be used to measure various inclination angles and inclination angle velocities.
- a measuring instrument can be used.
- a motor dryer 6 for driving both motors 4 and 5, a battery 8, and a control computer 10 as a control means are mounted in the interior (housing part) of the vehicle body 1.
- the control computer 10 is a gyro sensor. Based on the output of 7 and the encoder output of motors 4 and 5, the torque command value that is the control command value of motors 4 and 5 is calculated.
- the torque command value calculated by the control computer 10 is output to the motor driver 6, and the motor driver 6 controls the motors 4 and 5 based on this torque command value.
- a robot body (not shown) is placed on the upper part la of the vehicle body 1.
- control of the moving carriage is performed by a control computer 10 as control means.
- the control computer 10 is composed of a CPU, ROM, RAM, etc., and executes a control program stored in the ROM to control the carriage translation direction (direction orthogonal to the rotation axis of the wheels 2 and 3).
- a cart translation direction control command value calculation means 1 1 for calculating the command value hereinafter simply referred to as “control command value calculation means 1 1”
- control command value calculation means 1 1 for setting the target vehicle body inclination angle described later.
- the control computer 10 also functions as a cart rotation direction control command value calculating means for calculating a control command value related to the cart rotation direction (the rotation axis turning direction of the wheels 2 and 3) by executing the control program. To do.
- the carriage translation direction control and the carriage rotation direction control are performed.
- the carriage is rotated (turned) by driving 2 and 3 independently.
- the movable carriage according to the present invention is not limited to this, and it is only necessary to have two or more wheels arranged on one or the same rotation axis. That is, the mobile carriage according to the present invention may be any truck that can control the carriage translation direction.
- a gyro sensor 7 is connected to the control computer 10, and the output (vehicle body tilt angular velocity) of the gyro sensor 7 is inputted. That is, Jai
- the mouth sensor 7 is an example of a first detection unit.
- the control computer 10 is connected to a motor drive circuit 6 a and a motor drive circuit 6 b, which are a part of the motor driver 6.
- the motor drive circuit 6 a is connected to the motor 4 and drives the motor 4 according to the torque command value from the control computer 10.
- the motor drive circuit 6 b is connected to the motor 5 and drives the motor 5 according to the torque command value from the control computer 10.
- the encoders 4a and 5a of each motor 4 and 5 are connected to the control computer 10 and the output from each encoder 4a and 5a (the rotation angle of each motor 4 and 5) is input to the control computer 10 It has become like that. That is, the encoders 4a ⁇ 5a are an example of the second detection means.
- the control command value calculation means 11 calculates a torque command value to the motors 4 and 5 for controlling the cart translation direction. An example of the design procedure of the control command value calculation means 11 will be described.
- the moving carriage is modeled as an inverted pendulum with one wheel when viewed from the side, and the center of gravity of the vehicle body 1 (hereinafter referred to as the "vehicle body center of gravity") is set to 1 C.
- the vehicle body center of gravity (hereinafter referred to as the "vehicle body center of gravity")
- S be the rotation axis.
- FIG. 5B shows the connection between the motor 4 (or 5) and the wheel 2 (or 3).
- mi is the mass of car body 1
- J! Is the moment of inertia around the center of gravity of the vehicle body 1
- m w is the mass of the wheel
- J w is the moment of inertia around the wheel axis
- J m is the moment of inertia of the motor rotor
- n is the gear ratio
- (Axle) The distance from S is 1 and the radius of the wheel is r.
- m J! , J w , J m , n, 1 and r can be obtained by calculation or measurement.
- vehicle inclination angle ⁇
- wheel rotation angle from the vertical direction hereinafter referred to as “wheel “Angle”
- gravitational acceleration is g.
- 1 f is the distance from the rotation axis S to the mass point P
- ⁇ f is the angle from the vertical line X centered on the rotation axis S of the mass ⁇ (hereinafter referred to as “mass point inclination angle”).
- the 'external force moment f is estimated, and the vehicle body center of gravity 1 C (D, the vehicle body inclination angle 77 in which the gravity moment around the rotation axis S is balanced with the external force moment f is set as the target vehicle body inclination angle ⁇ .
- a torque command value U which is a control command value, is calculated.
- the vehicle body tilt angular velocity ⁇ / dt is measured by the gyro sensor 7 and the wheel angle ⁇ is encoded by the encoder 4 a ⁇ 5
- the vehicle body inclination angle ⁇ which is a one-time integration of the vehicle body inclination angular velocity d 77 / dt and the wheel angular velocity d ⁇ / dt which is a one-time differentiation of the wheel angle ⁇ can be calculated by differential and integration operations.
- the disturbance observer for estimating the external force moment f which is an unknown state quantity in the equation (12), is configured based on the following equation.
- X AX + Bu + L [y -CX) X-state estimator (displacement velocity) --- (13)
- X is the state variable (displacement 'velocity')
- C is the damper term
- L is the observer
- y is an observed quantity. In this case, it represents the vehicle body inclination angle, the vehicle body inclination angular velocity d / dt, the wheel angle ⁇ , and the wheel angular velocity d0 / dt, and all the state quantities may not be known. Is calculated by approximate differentiation or integration.
- the vehicle body tilt angular velocity d 77 Zd t detected by the gyro sensor 7 is measured by the encoder 4 a 5 a.
- the vehicle body tilt angle ⁇ is a one-time integral of the wheel angle ⁇ and the vehicle body tilt angular velocity d Z dt.
- C in the equation (1 3) becomes the following matrix.
- the target vehicle body inclination angle c in Equation (4) may be set so as to balance with the external force moment f estimated by the disturbance observer that estimates the unknown state quantity.
- the target vehicle body tilt angle is set to 0, but in this control, the external force moment f, which is the influence of external force, is canceled. Therefore, the target vehicle body inclination angle ⁇ c derived from Equation (4) is given by the following equation.
- the control computer 10 first sets the state quantity X as the vehicle body inclination angular velocity d / dt detected by the gyro-ceresa 7 and the values of the encoders 4 a '5 & of each motor 4 ⁇ 5 (Wheel angle 0 of wheels 2 and 3) is read, and the external force moment f is estimated from Equation (1 3) using these values and their differential and integral values (Step S 10).
- step S 10 the vehicle body inclination angle at which the gravitational moment of the vehicle body center of gravity 1 C balances with the external force moment f estimated in step S 10 is calculated from equation (15) (step S 2 0).
- the vehicle body inclination angle ⁇ calculated in step S 20 is set as the target vehicle body inclination angle ⁇ c in the target value setting means 12 (step S 3 0).
- step S 40 the torque command value u for the motor drive circuits 6 a and 6 b of the motors 4 and 5 is used as the control command value calculation means 11. Is calculated (step S 40). The torque command value u force calculated here is given to each motor drive circuit 6 a ⁇ 6 b, and each motor 4 ⁇ 5 is controlled.
- step S 40 the process returns to step S 10 and processing at the next control timing is started. That is, the target vehicle body inclination angle c is calculated as needed to perform feedback control so as to balance the external force moment f generated by the disturbance applied to the vehicle body 1.
- step S 10 to step S 40 described above is performed at a predetermined time interval (for example, 10 m s).
- the external force applied to the vehicle body 1 can be estimated indirectly from the vehicle body inclination angle 77 without directly obtaining the external force moment f as described above.
- the vehicle body 1 is inclined and the vehicle body inclination angle ⁇ is a value other than zero. That is, for example, when the passenger is not operating, the vehicle body 1 is in a stable and stationary state (the vehicle body inclination angle ⁇ is 0), and the control commutation ⁇ “10” from the cart translation direction and the cart rotation direction
- the vehicle body tilt angle 77 takes a value other than 0 when no torque command value is issued for the vehicle, that is, when the vehicle body 1 is not moving in the front-rear direction or the turning direction and is stationary.
- the control computer 10 does not issue a command value (a torque command value for the cart translation direction and the cart rotation direction) to move the vehicle body 1 to the motor driver 6 (the vehicle command 1).
- a command value a torque command value for the cart translation direction and the cart rotation direction
- the vehicle body tilt angle ⁇ calculated from the detection value of the gyro sensor 7 becomes a value other than 0
- the angle (target vehicle body tilt angle ⁇ c) is increased or decreased, and the torque command value u is calculated based on the target vehicle body tilt angle 77 c. '
- the vehicle body tilt angle 77 generated here is the mass point tilt angle ⁇ f as described above, ⁇ is added to the target vehicle body tilt angle 77 c so as to cancel the influence of this disturbance.
- ⁇ accumulated in the target vehicle body tilt angle 77 c is a negative value.
- the target vehicle body inclination angle ⁇ By accumulating ⁇ 77, the equation (4) is established when the vehicle body tilt angular velocity d 77 / dt becomes zero. That is, the external force generated by the external force applied to the vehicle body 1 And the gravity moment around the rotation axis S of the center of gravity 1 C of the vehicle body are balanced. At this point, the integration of ⁇ ends.
- the external force applied to the vehicle body 1 is indirectly estimated from the vehicle body tilt angle ⁇ , and the target vehicle body tilt angle r?
- the travel distance from when an external force due to disturbance is applied to the vehicle body 1 until the movable carriage is stably stopped is shortened.
- the loadability such as loading and unloading of heavy objects and the ability of passengers to ride in a two-wheeled state (a state where the vehicle body 1 supports only wheels 2 and 3).
- the vehicle body inclination angular velocity d 77 / dt may be used instead of the vehicle body inclination angle 77.
- the control computer 10 does not issue a command value for moving the vehicle body 1 among the torque command values to the motor driver 6, and the vehicle body inclination angular velocity detected by the gyro sensor 7 d 77 If Z dt is a value other than 0, the vehicle body.Inclination angular velocity d ⁇ / 'Increase or decrease the target vehicle body tilt angle 77 e until dt reaches 0 ⁇ , and based on this target vehicle body tilt angle 77 c The torque command value U is calculated.
- the increase / decrease value ⁇ 77 is set to the vehicle body inclination angle ⁇ or It is preferable to increase or decrease according to the absolute value of the vehicle body inclination angular velocity d 77 / dt.
- the vehicle body tilt angle 77 or the vehicle body tilt angular velocity d is increased or decreased by increasing or decreasing ⁇ integrated with the target vehicle body tilt angle ⁇ c according to the absolute value of the vehicle body tilt angle ⁇ or the vehicle body tilt angular velocity d ⁇ / dt. It is possible to prevent slight vibrations in the region where the absolute value of ⁇ dt is small, that is, in the vicinity of the balance position of the vehicle body 1.
- the accumulated to the target vehicle body inclination angle 77 e can be learned sequentially. That is, for example, the magnitude of the vehicle body tilt angle when the external force is applied to the vehicle body 1 and the fluctuation of the vehicle body tilt angular velocity d ⁇ / dt are used as evaluation indices, and the magnitude of the vehicle body tilt angle ⁇ and the vehicle body tilt angular velocity d In order to reduce the fluctuation of ⁇ / ⁇ t, we learn ⁇ .
- the target vehicle body inclination angle 77 is used to reduce the vehicle body inclination angle ⁇ when an external force is applied to the vehicle body 1. It is only necessary to increase ⁇ to be integrated into.
- the target vehicle body tilt angle ⁇ is increased as ⁇ ⁇ is increased.
- Immediately reaches the state that balances with the external force the state in which equation (4) holds
- the gravity moment of the center of gravity of the vehicle body 1 C balances with the external force moment f.
- the slight vibration near the balance level becomes larger.
- the target vehicle body tilt angle As ⁇ ⁇ is integrated into the vehicle body, the vehicle body inclination angular velocity d 77 Z d t becomes smaller. Therefore, ⁇ ? 7 is made smaller as the vehicle body inclination angular velocity d / dt decreases. As a result, the fluctuation of the vehicle body inclination angle velocity d 77 / dt is reduced.
- the external force applied to the vehicle body 1 can also be estimated indirectly from the wheel angular velocity d 0 Z dt. Note that the description of the portion overlapping with the case of indirectly estimating the external force applied to the vehicle body 1 from the vehicle body inclination angle)] is omitted.
- the vehicle body 1 When external force is applied to the vehicle body 1, the vehicle body 1 tilts, but in order to stabilize the vehicle body 1, the wheels 2 and 3 move in a direction that cancels the inclination of the vehicle body 1 (direction of the external force), and the wheel angular velocity dt is other than 0. It becomes the value of. In other words, for example, when the passenger is not operating, the vehicle body 1 is in a stable stationary state (the wheel angular velocity d 0 / dt is 0) and is controlled. When the torque command value for the cart translation direction and cart rotation direction is not issued from the computer 10, the wheel angular velocity d ⁇ / dt takes a value other than 0, which means that an external force is applied to the vehicle body 1. means.
- the vehicle body inclination angle ⁇ is set in the direction to cancel the wheel angular velocity d ez dt (the direction in which d 0Zd t is 0).
- the control computer 10 sends the wheel angle ⁇ measured by the encoders 4 a and 5 a to the motor driver 6 in a state where the command value for moving the vehicle body 1 is not issued. If the wheel angular velocity d ⁇ / dt calculated from the equation is a value other than 0, the target vehicle body tilt angle until the wheel angular velocity d ⁇ / ⁇ t becomes 0
- the torque command value U is calculated based on the target vehicle body inclination angle c .
- the target vehicle body inclination angle generated here is the mass point inclination angle ⁇ f as described above, the target vehicle body inclination angle is to cancel the influence of this disturbance? 7.
- ⁇ will be integrated into.
- the target vehicle body tilt angle ⁇ . ⁇ ⁇ integrated into is a negative value.
- Equation (4) is established when the vehicle body inclination angular velocity d 77 / dt becomes zero. That is, the external force moment f generated by the external force applied to the vehicle body 1 and the gravity moment around the rotation axis S of the vehicle body center of gravity 1 C are balanced. At this point, the integration of ⁇ ends.
- the external force applied to the vehicle body 1 is indirectly estimated from the wheel angular velocity d ⁇ / dt, and the target vehicle body tilt angle ⁇ so as to cancel it. Also by increasing or decreasing The same effect can be obtained.
- the external force applied to the vehicle body 1 is indirectly estimated from the wheel angular velocity de Z dt, and when the target vehicle body inclination angle e is increased or decreased, the increase / decrease value ⁇ ? 7 is set to the absolute value of the wheel angular velocity d 0 Z dt. It is preferable to increase / decrease according to.
- the absolute value of the wheel angular velocity d 0 / dt is small again region, i.e. It is possible to prevent slight vibration in the vicinity of the balance position of the vehicle body 1. This makes it possible to realize a quick stop of the vehicle body 1 even when a large external force is applied to the vehicle body 1, and to achieve a target vehicle body inclination angle 77. It is possible to reduce or eliminate the shaking of the vehicle body 1 due to successive fluctuations.
- ⁇ ? 7 accumulated in the target vehicle body inclination angle 77 e can be learned sequentially. That is, for example, the magnitude of the wheel angle 0 when the external force is applied to the vehicle body 1 (wheel travel distance) and the fluctuation of the wheel angular velocity d 0 Z dt are used as evaluation indexes. In order to reduce the fluctuation of the angular velocity d ⁇ / ⁇ t, we learn ⁇ ⁇ . '
- ⁇ integrated with the vehicle body tilt angle ⁇ may be increased.
- the target vehicle body tilt angle 77 increases as ⁇ 77 is increased.
- the gravity moment of the center of gravity of the vehicle body 1 C and the external force moment f are balanced. Slight vibration near the balance position increases.
- the wheel angular velocity d ⁇ / dt decreases as ⁇ r? Is added to the target vehicle body inclination angle 7? C after an external force is applied to the vehicle body 1, so this wheel angular velocity d ⁇ As dt decreases, ⁇ decreases. As a result, the fluctuation of the wheel angular velocity det is reduced.
- the target vehicle body tilt angle ⁇ when an external force is applied to the vehicle body 1.
- the correspondence between ⁇ 77 integrated into the wheel angular velocity d ⁇ / dt is stored in the RAM of the control computer 10 sequentially.
- both the final ⁇ wheel travel distance and the wheel angular velocity d ⁇ / dt can both be reduced and ⁇ T7 can be learned sequentially, and the fine vibration near the balance position of the body 1 can be more effective. Can be prevented.
- the mobile cart control method and the mobile cart according to the present invention enable stable position control on the spot by minimizing the movement of the cart (wheel position) even when a large external force is applied to the vehicle body. As a result, it is possible to improve the rideability of people and the loadability of objects, which is useful in the industry. '
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06767778A EP1788469B1 (en) | 2005-06-29 | 2006-06-27 | Control method for moving carriage |
US11/994,379 US8155828B2 (en) | 2005-06-29 | 2006-06-27 | Control method of traveling dolly |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005190781A JP4760162B2 (ja) | 2005-06-29 | 2005-06-29 | 移動台車の制御方法及び移動台車 |
JP2005-190781 | 2005-06-29 |
Publications (1)
Publication Number | Publication Date |
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WO2007001083A1 true WO2007001083A1 (ja) | 2007-01-04 |
Family
ID=37595314
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/313201 WO2007001083A1 (ja) | 2005-06-29 | 2006-06-27 | 移動台車の制御方法及び移動台車 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8155828B2 (ja) |
EP (1) | EP1788469B1 (ja) |
JP (1) | JP4760162B2 (ja) |
KR (1) | KR100950952B1 (ja) |
CN (1) | CN100530018C (ja) |
WO (1) | WO2007001083A1 (ja) |
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- 2006-06-27 CN CNB2006800009936A patent/CN100530018C/zh not_active Expired - Fee Related
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WO2010032493A1 (ja) * | 2008-09-17 | 2010-03-25 | 株式会社村田製作所 | 転倒防止制御装置及びコンピュータプログラム |
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Also Published As
Publication number | Publication date |
---|---|
CN101040233A (zh) | 2007-09-19 |
US20090030597A1 (en) | 2009-01-29 |
CN100530018C (zh) | 2009-08-19 |
KR100950952B1 (ko) | 2010-04-01 |
JP2007011634A (ja) | 2007-01-18 |
JP4760162B2 (ja) | 2011-08-31 |
KR20080011705A (ko) | 2008-02-05 |
EP1788469A4 (en) | 2011-11-30 |
US8155828B2 (en) | 2012-04-10 |
EP1788469B1 (en) | 2012-10-10 |
EP1788469A1 (en) | 2007-05-23 |
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