PROBLEM TO BE SOLVED: To provide an attitude control method for stably controlling attitude of various types of objects such as two wheelers.SOLUTION: In a control object model in which an object and a gyro actuator are associated with a rotating body respectively, a motion equation related to a tilt angle of a vehicle body and a tilt angle of the gyro actuator when an angular speed of a flywheel of the gyro actuator stays constant, which is a control law for generating a control input to be applied to the gyro actuator, is calculated using a position and velocity of a center of gravity of the object viewed from fixed coordinates, an angular speed of the center of gravity of the object viewed from moving coordinates using the center of gravity of the object as an origin, a position and velocity of a center of gravity of a gyroscope viewed from fixed coordinates, and an angular speed of the center of gravity of the gyroscope viewed from moving coordinates using the center of gravity of the gyroscope as an origin.

    【課題】2輪車等を始めとする各種対象物の姿勢を安定的に制御するようにした姿勢制御方法を提供する。【解決手段】対象物及びジャイロアクチュエータを回転体にそれぞれ対応させた制御対象モデルにおいて、固定座標から見た対象物重心の位置,速度、及び、対象物重心を原点とする移動座標から見た対象物重心の角速度と、固定座標から見たジャイロ重心の位置,速度、及び、ジャイロ重心を原点とする移動座標から見たジャイロ重心の角速度と、を用いて、ジャイロアクチュエータのフライホイールの角速度が一定である時の車体の傾き角度とジャイロアクチュエータの傾転角度とに関する運動方程式であって、ジャイロアクチュエータに与える制御入力を生成するための制御則を作成する。【選択図】図1


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    Titel :

    CONTROL OBJECT MODEL AND ATTITUDE CONTROL METHOD


    Weitere Titelangaben:

    制御対象モデル及び姿勢制御方法


    Beteiligte:
    OUCHI SHIGETO (Autor:in) / KOTANI SAIYUKI (Autor:in) / KADOHATA HIROAKI (Autor:in) / TAKAHASHI KOICHI (Autor:in) / KANZAKI SATORU (Autor:in) / YAMAI TOSHIHIRO (Autor:in)

    Erscheinungsdatum :

    2015-09-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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