发明名称 |
SELF-PROPELLED VEHICLE, AND DEVICE AND METHOD FOR CONTROLLING SAME |
摘要 |
The vehicle is provided with a body; a pair of right and left wheels; a first motor that drives one of the wheels; a second motor that drives the other one of wheels; a controller for receiving a target current value for the first motor and controlling current of the first motor; a calculator for receiving the target current value and an actual movement amount of the first motor and calculating a disturbance torque loaded on the first motor; an adjuster for adjusting the target current value for the first motor in a basis of the disturbance torque; a controller for receiving a target current value for the second motor and controlling current of the second motor; a calculator for receiving the target current value and an actual movement amount of the second motor and calculating a disturbance torque loaded on the second motor; an adjuster for adjusting the target current value for the second motor in a basis of the disturbance torque. Accordingly, even if the disturbance torque is loaded, the vehicle can keep running as intended. |
申请公布号 |
EP2338775(A1) |
申请公布日期 |
2011.06.29 |
申请号 |
EP20080877065 |
申请日期 |
2008.09.25 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
SENBA, YOSHIYUKI;YAMADA, KOJI;IZUO, TAKASHI;SERAI, TAKUYA;KOIDE, MITSUO;SUKIGARA, KAZUTOSHI;HAYASHI, CHISAO |
分类号 |
B62K17/00;B60L5/20;B62K3/00 |
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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