The control device of the present invention applies only a damping to a vehicle (141) if a load angular position ¸ 1 is in the vicinity of a load angular position reference input ¸ 1 *. In the preferred embodiment, a control portion (110) has a control switching unit (124) and a switching linear torque unit 123. The switching linear torque unit (123) calculates a damping torque and a linear feedback torque, the damping torque being obtained by applying a negative sign to a product of the load angular speed and the damping parameter, the linear feedback torque being obtained by multiplying at least one of a position tracking error, a speed tracking error, and an acceleration tracking error by a predetermined gain. The control switching unit (124) switches and outputs the damping torque and the linear feedback torque. The control switching unit (124) outputs the damping torque if the load angular position ¸ 1 is in the vicinity of the load angular position reference input ¸ 1 * , and outputs the linear feedback torque otherwise. The embodiment enables the inverted vehicle to stably travel at a desired speed without vibration.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    CONTROL PORTION FOR INVERTED VEHICLE


    Weitere Titelangaben:

    STEUERVORRICHTUNG FÜR EIN INVERTIERTES FAHRZEUG
    PARTIE COMMANDE POUR VÉHICULE INVERSÉ


    Beteiligte:
    ANDOH FUKASHI (Autor:in)

    Erscheinungsdatum :

    2016-08-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS / B62K Fahrräder , CYCLES



    OPERATING PORTION CONTROL DEVICE, VEHICLE CONTROL SYSTEM, AND OPERATING PORTION CONTROL METHOD

    MORIKAWA YUTA / NAKANISHI TSUKASA / ITO YUKI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    OPERATING PORTION CONTROL DEVICE, VEHICLE CONTROL SYSTEM, AND OPERATING PORTION CONTROL METHOD

    MORIKAWA YUTA / NAKANISHI TSUKASA / ITO YUKI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Operating portion control device, vehicle control system, and operating portion control method

    MORIKAWA YUTA / NAKANISHI TSUKASA / ITO YUKI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    VEHICLE PORTION

    WYATT ALISTAIR / PECK JAMES | Europäisches Patentamt | 2023

    Freier Zugriff

    INVERTED VEHICLE

    TAKEDA TAKAHIRO / OISHI KOUTA / MISAO KAZUTOMO | Europäisches Patentamt | 2015

    Freier Zugriff