发明名称 |
METHOD FOR ESTIMATING CENTROID ANGLE, AND INVERTED-WHEEL-TYPE TRAVELING BODY CONTROLLED BY THE METHOD |
摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for using minimum sensors to estimate a centroid angle in both an inverted state and an auxiliary-wheel-ground state (a resultant centroid angle of an occupant or an embarkation and an inverted-wheel-type traveling body), in the inverted-wheel-type traveling body. <P>SOLUTION: The boardable inverted-wheel-type traveling body includes: the inverted state where the auxiliary wheel inverts only using a drive wheel without contacting the ground; and the auxiliary-wheel-ground state where the auxiliary wheel contacts the ground. The method includes steps of: designing state observers on the basis of respective equations of motion between the inverted state and the auxiliary-wheel-ground state; introducing an affine term into a state equation of the state observer in the auxiliary-wheel-ground state; and using the respective state observers between the inverted state and the auxiliary-wheel-ground state to estimate a fluctuation portion and disturbance of the centroid angle in the entire inverted-wheel-type traveling body caused by the occupant or the embarkation in both of the states, and a floor reaction force in the auxiliary-wheel-ground state. <P>COPYRIGHT: (C)2013,JPO&INPIT |
申请公布号 |
JP2012250569(A) |
申请公布日期 |
2012.12.20 |
申请号 |
JP20110122834 |
申请日期 |
2011.05.31 |
申请人 |
TOYOTA TECHNICAL DEVELOPMENT CORP;TOYOTA MOTOR CORP |
发明人 |
YIN YINGJIE;TAKESHIGE MINORU;NAKAJIMA YUICHIRO;SENBA YOSHIYUKI;KAJIMA HIDEKI |
分类号 |
B62K17/00;B60L15/20;B62K3/00;G05D1/08 |
主分类号 |
B62K17/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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