Method and device for steering vehicle having no contact with track
First Claim
7. A rail non-contact vehicle comprising:
- wheels;
a cart supported by said wheels;
a vehicle main body supported by said cart; and
a steering control system which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, said control section comprises;
an optimization calculating section configured to optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle.
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Accused Products
Abstract
A rail non-contact vehicle includes wheels, a vehicle main body supported by the wheels, and a steering control system. The steering control system includes a control section configured to control a steering of the wheels in a non-mechanical manner, and a drive section configured to mechanically drive the steering of the wheels. The control section includes a first detector configured to detect 1-dimensional coordinate data of a target route, a steering angle holding section configured to hold a target steering angle corresponding to the 1-dimensional coordinate data, a second detector configured to detect a current deviation between the target route and a current position of the vehicle main body, and a control steering angle calculating section configured to generate a control steering angle corresponding to the current deviation and the target steering angle.
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Citations
31 Claims
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7. A rail non-contact vehicle comprising:
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wheels;
a cart supported by said wheels;
a vehicle main body supported by said cart; and
a steering control system which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, said control section comprises;
an optimization calculating section configured to optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle. - View Dependent Claims (1, 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A rail non-contact vehicle comprising:
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wheels;
a cart supported by said wheels; and
a steering apparatus which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises;
a motor;
a screw axis connected with an output axis of said motor;
bearings configured to support said screw axis;
a nut screwed with said screw axis;
a first support configured to support said nut;
a second support configured to support said bearings; and
a link mechanism configured to steer said wheels, and either of said first support and said second support constitutes a fixation side support fixed to said cart, and either of said first support and said second support constitutes a movable side support connected with said link mechanism. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A rail non-contact vehicle comprising:
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wheels;
a cart supported by said wheels, and a steering unit which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises;
a motor;
a movable body connected with an output axis of said motor;
a safety bar provided with safe rings, and a link mechanism configured to steer said wheels, said link mechanism is connected with said safety bar and said movable body, and said safety bar is movably supported to said cart, and said motor is fixedly supported by said cart. - View Dependent Claims (26)
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27. A rail non-contact vehicle comprising:
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wheels;
a cart supported by said wheels; and
a steering unit which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises;
a motor;
a screw axis connected with an output axis of said motor;
bearings configured to support said screw axis;
a nut screwed in said screw axis;
a link mechanism configured to steer said wheels; and
a safety bar provided with safe rings, said safety bar, said motor, and said bearings are fixedly supported by said cart, and said nut is connected with said link mechanism. - View Dependent Claims (28)
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29. A method of steering a rail non-contact vehicle, comprising:
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setting of a 1-dimensional coordinate data of a target route;
setting of a target steering angle corresponding to said 1-dimensional coordinate data, detecting a current deviation between said target routes and a current position of a vehicle main body;
generating a control steering angle corresponding to said current deviation and said target steering angle; and
turning orientation of wheels to an angle position corresponding to said control steering angle, and wherein said current deviation is defined as a distance of said current position in a direction orthogonal to said target route. - View Dependent Claims (30)
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31. A steering method of a rail non-contact vehicle, wherein a drive section comprises a motor, a ball screw axis connected with an output axis of said motor, and a nut connected with the ball screw axis, a clutch interposed between said motor and said ball screw axis, and a link mechanism connected with said wheels and configured to operate a rotation of the output axis of said motor,
said steering method further comprises: -
detecting a contact between a part of said vehicle with a road surface side structure; and
disengaging said clutch interposed therebetween in response to the contact.
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Specification