MOVABLE BODY, TRAVEL DEVICE, AND MOVABLE BODY CONTROL METHOD

• US 20100030442A1
• Filed: 07/29/2009
• Published: 02/04/2010
• Est. Priority Date: 07/29/2008
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: KOSAKA, Yusuke
• Granted Patent: US 8,738,259 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

A movable body according to the present invention detects an operation state including attitude information of the movable body by using an operation state detector, generates a drive velocity command based on the detected attitude information and an attitude information command to be input, generates a torque command of the drive device based on the generated drive velocity command and a drive velocity detected by a drive velocity detector, and drives the drive device in accordance with the torque command generated by a velocity controller, to thereby move. In the movable body, the velocity controller performs velocity control so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated by an attitude controller, and the attitude controller performs attitude control so that the attitude information detected by the operation state detector follows the attitude information command to be input.

Claims

1. A movable body comprising:

a drive device that drives a movable body;

a drive velocity detector that detects a drive velocity of the drive device;

an operation state detector that detects an operation state including attitude information of the movable body;

an attitude controller that generates a drive velocity command based on the attitude information detected by the operation state detector and an attitude information command to be input so that the attitude information detected follows the attitude information command to be input; and

a velocity controller that generates a torque command of the drive device based on the drive velocity command generated by the attitude controller and the drive velocity detected by the drive velocity detector so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated,

wherein the drive device is driven in accordance with the torque command generated by the velocity controller, to move the movable body.

2. The movable body according to claim 1, further comprising a turning controller that generates a turning velocity command based on a turning information command to be input, wherein

the attitude controller generates an attitude velocity command based on the attitude information detected and the attitude information command to be input,

the attitude velocity command generated by the attitude controller and the turning velocity command generated by the turning controller are subjected to one of addition and subtraction, to be input to the velocity controller as the drive velocity command, and

the velocity controller performs velocity control so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated.

3. The movable body according to claim 1, further comprising a velocity information command setter that sets a velocity information command, wherein

the operation state detector detects the operation state including velocity information and the attitude information of the movable body,

the velocity information command setter sets the velocity information detected by the operation state detector as the velocity information command, and

the attitude controller generates the drive velocity command based on the attitude information detected and the velocity information command set by the velocity information command setter.

4. The movable body according to claim 3, further comprising a brake lever,

wherein the velocity information command setter changes, when the brake lever is operated, the set velocity information command in accordance with an operation amount of the brake lever and the velocity information detected by the operation state detector.

5. The movable body according to claim 3, wherein the velocity information command setter changes, when the velocity information detected by the operation state detector exceeds a predetermined velocity limit range, the set velocity information command in accordance with the velocity information detected by the operation state detector.

6. A travel device comprising:

a driving unit that separately drives a plurality of wheels that are coaxially disposed;

a main body that connects the plurality of wheels;

a wheel angular velocity detector that detects a relative angular velocity between the main body and the plurality of wheels as a wheel angular velocity;

an attitude detector that detects at least one of an attitude angle and an attitude angular velocity as attitude information of the main body;

an attitude controller that generates a wheel angular velocity command based on the attitude information detected by the attitude detector and an attitude information command to be input so that the attitude information detected follows the attitude information command to be input; and

a velocity controller that generates a torque command of each of the plurality of wheels based on the wheel angular velocity command generated by the attitude controller and the wheel angular velocity detected by the wheel angular velocity detector so that the wheel angular velocity detected by the wheel angular velocity detector follows the wheel angular velocity command generated,

wherein the driving unit includes a motor that is driven in accordance with the torque command generated by the velocity controller, to travel the travel device.

7. The travel device according to claim 6, further comprising a turning controller that generates a turning velocity command based on a turning information command to be input, wherein

the attitude controller generates an attitude velocity command based on the attitude information detected and the attitude information command to be input,

the attitude velocity command generated by the attitude controller and the turning velocity command generated by the turning controller are subjected to one of addition and subtraction, to be input to the velocity controller as a wheel angular velocity command, and

the velocity controller performs velocity control so that the wheel angular velocity detected by the wheel angular velocity detector follows the wheel angular velocity command generated.

8. The travel device according to claim 6, further comprising:

a vehicle velocity detector that detects a vehicle velocity of the travel device based on the wheel angular velocity of the plurality of wheels that is detected by the wheel angular velocity detector and the attitude angular velocity detected by the attitude detector; and

a vehicle velocity command setter that sets a vehicle velocity command, wherein

the vehicle velocity command setter sets the vehicle velocity detected by the vehicle velocity detector as the vehicle velocity command, and

the attitude controller generates the wheel angular velocity command based on the attitude information detected and the vehicle velocity command set by the vehicle velocity command setter.

9. The travel device according to claim 8, further comprising a brake lever,

wherein the vehicle velocity command setter changes, when the brake lever is operated, the set vehicle velocity command in accordance with an operation amount of the brake lever and the vehicle velocity detected by the vehicle velocity detector.

10. The travel device according to claim 8, wherein the vehicle velocity command setter changes, when the vehicle velocity detected by the vehicle velocity detector exceeds a predetermined velocity limit range, the set vehicle velocity command in accordance with the vehicle velocity detected by the vehicle velocity detector.

11. A method of controlling a movable body that moves by driving a drive device in accordance with a torque command to be generated while detecting a drive velocity of the drive device that drives the movable body and an operation state including attitude information of the movable body, the method comprising:

generating a drive velocity command based on the attitude information detected and an attitude information command to be input, and performing attitude control so that the attitude information detected follows the attitude information command to be input; and

generating the torque command of the drive device based on the drive velocity command generated and the drive velocity detected, and performing velocity control so that the drive velocity detected follows the drive velocity command generated.