Vehicle and Feedback Control Method

• US 20120046835A1
• Filed: 03/11/2010
• Published: 02/23/2012
• 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
• Granted Patent: US 8,630,770 B2
• Time in Patent Office: Days
• 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

1-7. -7. (canceled)

8. A feedback control method characterized in that

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

the first output value is subtracted from the operation amount of the controlled object so as to calculate a second output value,

the second output value is inputted into the transfer function of the controlled object from which the dead time is removed so as to calculate a third output value,

the third output value is subtracted from a deviation so as to calculate a revised deviation, and

feedback control is performed based on the revised deviation.

9. A feedback control method characterized in that

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

the first output value is subtracted from the operation amount of the controlled object so as to calculate a second output value,

the second output value is inputted into the transfer function of the controlled object from which the dead time is removed so as to calculate a third output value,

the third output value is inputted into a filter through which only a specific frequency component can pass so as to calculate a fourth output value

the fourth output value is subtracted from a deviation so as to calculate a revised deviation, and

feedback control is performed based on the revised deviation.