MOVING BODY CONTROL SYSTEM, MOVING BODY CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM STORING CONTROL PROGRAM

摘要

A moving body control system includes a driving velocity detector that detects a driving velocity of a driving device that drives a moving body, a posture state detecting device that detects posture information of the moving body, a posture controller that produces a first driving velocity command for the driving device, based on the posture information and an entered posture information command, a velocity command producer that produces a second driving velocity command for the driving device, by adding the first driving velocity command and the driving velocity, and a velocity controller that controls the driving device, by producing a torque command for the driving device, based on the second driving velocity command and the driving velocity. The velocity controller performs velocity control so that the driving velocity follows the second driving velocity command. The posture controller performs posture control so that the posture information follows the posture information command.

主权项

1. A moving body control system comprising:
a driving device configured to drive a moving body; a driving velocity detector configured to detect a driving velocity of the driving device; a posture state detecting device configured to detect posture information of the moving body; a posture controller configured to produce a first driving velocity command for the driving device, based on the detected posture information, and an entered posture information command; a velocity command producer configured to produce a second driving velocity command for the driving device, by adding the first driving velocity command produced by the posture controller, and the detected driving velocity; and a velocity controller configured to control the driving device, by producing a torque command for the driving device, based on the produced second driving velocity command, and the driving velocity detected by the driving velocity detector, wherein the velocity controller performs velocity control so that the driving velocity detected by the driving velocity detector follows the second driving velocity command produced by the velocity command producer, and the posture controller is configured to perform posture control so that the posture information detected by the posture state detecting device follows the entered posture information command.