Vehicle and feedback control method

• US 8,630,770 B2
• Filed: 03/11/2010
• Issued: 01/14/2014
• Est. Priority Date: 04/17/2009
• Status: Active Grant

• Current Assignee: Yanmar Power Technology Co., Ltd. (Yanmar Holdings Co., Ltd.)
• Original Assignee: Yanmar Company Limited (Yanmar Holdings Co., Ltd.)
• Inventors: Matsumoto, Keiji, Terashima, Jun
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US13/264,805
• Publication Number:
  US 20120046835A1
• Time in Patent Office: 1,405 Days
• Field of Search: 701/1, 701/41
• US Class Current: 701/41
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/22 Microcars, e.g. golf cars
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 7/1509 with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A vehicle capable of easily translating in an arbitrary direction. A vehicle comprising: wheels composed of two front wheels and two rear wheels; four steering actuators connected to the wheels, respectively, and steering the wheels; four drive actuators connected to the wheels, respectively, and driving the wheels; a joystick (64) tiltable in an arbitrary direction to perform operation and instructing the operation of the steering actuators; an accelerator pedal (63) for instructing the operation of the drive actuators; and a controller (100) which, when the joystick (64) is tilted, steers the wheels in the direction in which the joystick (64) is tilted, and when the accelerator pedal (63) is operated, drives the wheels on the basis of the amount of the operation of the accelerator pedal (63).

Claims

1. A feedback control method comprising:

using a controller to calculate a first output value by inputting a control amount of a controlled object including a dead time which is a delay time of response about an input into an inverse model of a transfer function of the controlled object from which the dead time is removed,

using the controller to calculate a second output value by subtracting the first output value from the operation amount of the controlled object,

using the controller to calculate a third output value by inputting the second output value into the transfer function of the controlled object from which the dead time is removed,

using the controller to calculate a revised deviation by subtracting the third output value from a deviation, and

using the controller to perform feedback control based on the revised deviation.

2. A feedback control method comprising:

using a controller to calculate a first output value by inputting a control amount of a controlled object including a dead time which is a delay time of response about an input into an inverse model of a transfer function of the controlled object from which the dead time is removed,

using the controller to calculate a second output value by subtracting the first output value from the operation amount of the controlled object

using the controller to calculate a third output value by inputting the second output value into the transfer function of the controlled object from which the dead time is removed,

using the controller to calculate a fourth output value by inputting the third output value into a filter through which only a specific frequency component can pass,

using the controller to calculate a revised deviation by subtracting the fourth output value from a deviation, and

using the controller to perform feedback control based on the revised deviation.

3. A control system comprising a controller that includes memory and one or more processors configured to:

calculate a first output value by inputting a control amount of a controlled object including a dead time which is a delay time of response about an input into an inverse model of a transfer function of the controlled object from which the dead time is removed,

calculate a second output value by subtracting the first output value from the operation amount of the controlled object,

calculate a third output value by inputting the second output value into the transfer function of the controlled object from which the dead time is removed,

calculate a revised deviation by subtracting the third output value from a deviation, and

perform feedback control based on the revised deviation.

4. A control system comprising a controller that includes memory and one or more processors configured to:

calculate a first output value by inputting a control amount of a controlled object including a dead time Which is a delay time of response about an input into an inverse model of a transfer function of the controlled object from which the dead time is removed,

calculate a second output value by subtracting the first output value from the operation amount of the controlled object,

calculate a third output value by inputting the second output value into the transfer function of the controlled object from which the dead time is removed,

calculate a fourth output value by inputting the third output value into a fitter through which only a specific frequency component can pass,

calculate a revised deviation by subtracting the fourth output value from a deviation, and

perform feedback control based on the revised deviation.