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1. WO2011108029 - TWO-WHEELED INVERTED PENDULUM DEVICE, METHOD FOR CONTROLLING SAME, AND CONTROL PROGRAM

Publication Number WO/2011/108029
Publication Date 09.09.2011
International Application No. PCT/JP2010/001556
International Filing Date 05.03.2010
IPC
B62K 17/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
17Cycles not otherwise provided for
B62K 3/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
3Bicycles
CPC
B62J 25/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
25Foot-rests; Knee grips; Passenger hand-grips
B62K 11/007
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
11Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
B62K 11/14
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
11Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
14Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
B62K 17/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
17Cycles not otherwise provided for
B62K 3/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
3Bicycles
Y02T 10/72
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
10Road transport of goods or passengers
60Other road transportation technologies with climate change mitigation effect
72Electric energy management in electromobility
Applicants
  • トヨタ自動車株式会社 TOYOTA JIDOSHA KABUSHIKI KAISHA [JP]/[JP] (AllExceptUS)
  • 小坂雄介 KOSAKA, Yusuke [JP]/[JP] (UsOnly)
  • 及川晋 OIKAWA, Susumu [JP]/[JP] (UsOnly)
Inventors
  • 小坂雄介 KOSAKA, Yusuke
  • 及川晋 OIKAWA, Susumu
Agents
  • 家入健 IEIRI, Takeshi
Priority Data
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) TWO-WHEELED INVERTED PENDULUM DEVICE, METHOD FOR CONTROLLING SAME, AND CONTROL PROGRAM
(FR) DISPOSITIF À PENDULE INVERSÉ À DEUX ROUES, SON PROCÉDÉ DE COMMANDE, ET PROGRAMME DE COMMANDE
(JA) 倒立二輪装置、その制御方法及び制御プログラム
Abstract
(EN) A two-wheeled inverted pendulum device is provided with a drive means for driving wheels, a control means for generating torque command values for controlling drive torque of the drive means, and an attitude detecting means for detecting attitude information for a vehicle. Moreover, the two-wheeled inverted pendulum device is capable of traveling with an inverted state maintained. Furthermore, when the control means determines that a torque command value generated is not less than a predetermined value and thus is in a saturated state, and when the control means also determines, on the basis of attitude information detected by the attitude detecting means, that inversion control is in a failed state, then the control means performs control such that an occupant is made to alight from the vehicle.
(FR) Un dispositif à pendule inversé à deux roues comprend un moyen d'entraînement permettant d'entraîner les roues, un moyen de commande permettant de générer des valeurs de commande de couple afin de commander le couple d'entraînement du moyen d'entraînement, et un moyen de détection de position permettant de détecter des informations de position pour un véhicule. De plus, le dispositif à pendule inversé à deux roues peut se déplacer tout en conservant l'état inversé. En outre, lorsque le moyen de commande détermine qu'une valeur de commande de couple générée n'est pas inférieure à une valeur prédéterminée et est ainsi dans un état saturé, et lorsque le moyen de commande détermine également, sur la base des informations de position détectées par le moyen de détection de position, que la commande d'inversion est dans un état d'échec, le moyen de commande réalise alors la commande de sorte qu'un occupant puisse descendre du véhicule.
(JA)  倒立二輪装置は、車輪を駆動する駆動手段と、駆動手段の駆動トルクを制御するためのトルク指令値を生成する制御手段と、車両の姿勢情報を検出する姿勢検出手段と、を備えている。また、倒立二輪装置は倒立状態を維持して走行することができる。さらに、制御手段は、生成したトルク指令値が所定値以上で飽和状態となっており、かつ、姿勢検出手段により検出された姿勢情報に基づいて倒立制御が破綻状態となっていると判断したとき、搭乗者を降車させる制御を行う。
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