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1. (WO2007001083) CONTROL METHOD FOR MOVING CARRIAGE
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2007/001083 International Application No.: PCT/JP2006/313201
Publication Date: 04.01.2007 International Filing Date: 27.06.2006
IPC:
G05D 1/08 (2006.01) ,B62K 17/00 (2006.01) ,B60L 15/20 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08
Control of attitude, i.e. control of roll, pitch, or yaw
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
K
CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
17
Cycles not otherwise provided for
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
L
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
15
Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
20
for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
Applicants:
トヨタ自動車株式会社 TOYOTA JIDOSHA KABUSHIKI KAISHA [JP/JP]; 〒4718571 愛知県豊田市トヨタ町1番地 Aichi 1, Toyota-cho, Toyota-shi, Aichi 4718571, JP (AllExceptUS)
不破 稔夫 FUWA, Toshio [JP/JP]; JP (UsOnly)
中島 一誠 NAKASHIMA, Issei [JP/JP]; JP (UsOnly)
Inventors:
不破 稔夫 FUWA, Toshio; JP
中島 一誠 NAKASHIMA, Issei; JP
Agent:
矢野 寿一郎 YANO, Juichiro; 〒5406134 大阪府大阪市中央区城見二丁目1番61号 ツイン21MIDタワー34階 矢野内外国特許事務所 Osaka YANO INTERNATIONAL PATENT OFFICE Twin 21 MID Tower 34th Floor 1-61, Shiromi 2-chome Chuo-ku, Osaka-shi, Osaka 5406134, JP
Priority Data:
2005-19078129.06.2005JP
Title (EN) CONTROL METHOD FOR MOVING CARRIAGE
(FR) PROCÉDÉ DE COMMANDE POUR CHARIOT MOBILE
(JA) 移動台車の制御方法及び移動台車
Abstract:
(EN) A control method for a moving carriage having wheels (2) and (3) driven by motors (4) and (5) as drive means, a carriage body (1) supported on the wheels (2) and (3), and a control computer (10) as a control means to provide control instruction values to the motors (4) and (5). The gravity center of the carriage body (1) is positioned above the rotating axis of the wheels (2) and (3). The control computer (10) estimates an external force moment as the inertia moment of the wheels (2) and (3) around their rotating axis generated by an external force applied to the carriage body (1), sets, as a target carriage body inclination angle, the inclination angle of the carriage body (1) at which the gravity moment of the gravity center of the carriage body (1) around the rotating axis of the wheels is kept in balance with the external moment, and based on the target vehicle body inclination angle, calculates torque instruction values to the motors (4) and (5).
(FR) Procédé de commande pour chariot mobile ayant des roues (2) et (3) actionnées par des moteurs (4) et (5) comme moyens d’entraînement, un corps de chariot (1) soutenu sur les roues (2) et (3), et un ordinateur de commande (10) comme moyen de commande pour fournir les valeurs d’instructions de commande aux moteurs (4) et (5). Le centre de gravité du corps de chariot (1) est positionné au-dessus de l’axe de rotation des roues (2) et (3). L’ordinateur de commande (10) estime un moment de force externe comme le moment d’inertie des roues (2) et (3) sur leur axe de rotation produit par une force externe appliquée au corps de chariot (1), définit, comme valeur angulaire cible pour l’inclinaison du corps de chariot, l’angle d’inclinaison du corps de chariot (1) auquel le moment du centre de gravité du corps de chariot (1) sur l’axe de rotation des roues est maintenu en équilibre avec le moment externe, et sur la base de l’angle d’inclinaison cible du corps de véhicule, calcule les valeurs d’instructions de couple fournies aux moteurs (4) et (5).
(JA) 駆動手段であるモータ4・5により駆動される車輪2・3と、該車輪2・3に支持される車体1と、モータ4・5に制御指令値を与える制御手段としての制御コンピュータ10とを備え、車体1の重心が車輪2・3の回転軸の上方に位置する移動台車の制御方法であって、制御コンピュータ10は、車体1に加わる外力により発生する車輪2・3の回転軸回りの慣性モーメントである外力モーメントを推定し、車体1の重心の前記回転軸回りの重力モーメントが、外力モーメントと釣り合う車体1の傾斜角度を目標車体傾斜角度として設定し、この目標車体傾斜角度に基づき、モータ4・5へのトルク指令値を算出する構成としている。
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Designated States: AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BR, BW, BY, BZ, CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, HN, HR, HU, ID, IL, IN, IS, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LV, LY, MA, MD, MG, MK, MN, MW, MX, MZ, NA, NG, NI, NO, NZ, OM, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, SY, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HU, IE, IS, IT, LT, LU, LV, MC, NL, PL, PT, RO, SE, SI, SK, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)
Also published as:
KR1020080011705EP1788469US20090030597CN101040233