US 2006/0231313 A1Published application

Coaxial motorcycle

AssigneeSony Corporation

InventorShinji Ishii

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Abstract

In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command θref serving as attitude command and current base angle θ0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position θr of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

Claims21

Dependent claims

A coaxial two-wheeled vehicle comprising a pair of wheels, a wheel axle installed or provided between the pair of wheels, a base supported on the wheel axle so that it can be inclined thereon, a pair of drive motors attached on the base and for driving the pair of respective wheels, and a control unit for sending an operation command to the pair of drive motors,

wherein load detecting means for detecting position and weight of load on the base and angle detecting means for detecting angle about the wheel axle of the base are provided on the base, and
the control unit is composed of a first control mechanism adapted to generate a first torque for canceling torque based on the load, and to generate a second torque for maintaining the base so that it has a predetermined angle in correspondence with angle about the wheel axle of the base, and a second control mechanism independent of the first control mechanism, which is adapted to generate a third torque for performing traveling operation in accordance with position of the load, thus to instruct the pair of respective drive motors to perform operations corresponding to the first to third torques.

A coaxial two-wheeled vehicle comprising a pair of wheels, a wheel axle installed or provided between the pair of wheels, a base supported on the wheel axle so that it can be inclined thereon, a pair of drive motors for driving the pair of respective wheels, and a control unit for sending an operation command to the pair of drive motors,

wherein load detecting means for detecting position and weight of load on the base is provided on the base, and
the control unit is operative so that in the case where position of the load is within a predetermined stop region, it does not send a traveling command, while in the case where position of the load is not within the stop region, it sends a traveling command corresponding to that position to the pair of respective drive motors.

Dependencies are inferred from the claim text.

Facts

Application: 10/558,418Filed 3 Jun 2004
Priority: JP 2003-16822612 Jun 2003
Published: 19 Oct 2006
Term ends: Not estimatedThe source records don’t support an estimate.

Classification20 codes

B60L 15/20
Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles: for control of the vehicle or its…
A63C 17/12
Roller skates; Skate-boards: with driving mechanisms
B62K 11/007
Motorcycles, engine-assisted cycles or motor scooters with one or two wheels: automatic balancing machines with single main ground engaging wheel…
G05D 1/0891
Control of attitude, i.e. control of roll, pitch, or yaw: specially adapted for land vehicles