To provide a movable body or the like capable of calculating a feed-forward steering angle with higher accuracy by taking dynamics into account.SOLUTION: A movable body control device for controlling a movable body traveling along a predetermined track includes an information acquisition part for acquiring movable body specific information including a truck position and vehicle body mass, a movable body position, movable body speed, and track information including curvature at each position of the track, and a feed-forward steering angle calculation part for calculating a steering angle by using the movable body specific information, the movable body position, the movable body speed, and the track information. The feed-forward steering angle calculation part calculates the steering angle by a sum between a kinematics component calculated on the basis of a geometrical relation between the truck position and the curvature of the track at the movable body position, and a dynamics component calculated on the basis of an equation of motion including the truck position, the vehicle body mass, the movable body speed, and the curvature and a curvature change rate of the track at the movable body position.SELECTED DRAWING: Figure 1

    【課題】動力学を考慮した、より精度の高いフィードフォワード操舵角の演算が可能な移動体等を提供する。【解決手段】移動体制御装置は、予め定められた軌道に沿って走行する移動体を制御する移動体制御装置であって、台車位置及び車体質量を含む移動体固有情報、移動体位置、移動体速度、及び、前記軌道の位置ごとの曲率を含む軌道情報を取得する情報取得部と、前記移動体固有情報、前記移動体位置、前記移動体速度、及び、前記軌道情報を用いて操舵角を演算するフィードフォワード操舵角演算部と、を備える。前記フィードフォワード操舵角演算部は、前記台車位置と、前記移動体位置における前記軌道の曲率との幾何学的関係に基づいて算出される運動学成分と、前記台車位置、前記車体質量、前記移動体速度、及び、前記移動体位置における前記軌道の曲率及び曲率変化率を含む運動方程式に基づいて算出される動力学成分との和によって前記操舵角を演算する。【選択図】図1


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    Title :

    MOVABLE BODY CONTROL DEVICE, MOVABLE BODY, MOVABLE BODY CONTROL METHOD AND PROGRAM


    Additional title:

    移動体制御装置、移動体、移動体制御方法及びプログラム


    Contributors:

    Publication date :

    2020-08-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen



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