# US 8,788,094 B2 · Cooperative control device

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- Number: US 8,788,094 B2
- Document ID: US8788094B2
- Status: Granted
- Kind: B2
- Application number: 13/505,265
- Filed: 2010-10-29
- Published: 2012-10-25
- Granted: 2014-07-22
- Earliest claimed: 2009-10-31
- Assignees: BI2-Vision CO.
- Applicants: Xiaolin Zhang
- Inventors: Xiaolin Zhang
- Web page: https://patentgrep.com/patent/US8788094B2

## CPC

- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B60L 2220/42: with use of more than one motor
- B60L 2220/44: Wheel Hub motors, i.e. integrated in the wheel hub
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Provided is a cooperative control device capable of advanced cooperative control. The cooperative control device for cooperatively controlling a plurality of control objects is provided with a pair of output control systems, a pair of crossing circuits, and transfer function units. The pair of output control systems is provided for a pair of control objects having respective control circuits. The pair of crossing circuits is provided from a first input side to a second output side and from a second input side to a first output side of the control circuit of the output control systems. The transfer function unit is provided in each pair of crossing circuits.

## Claims

### Claim 1

A cooperative control device that cooperatively controls a plurality of objects to be controlled, the cooperative control device comprising:
a pair of output control systems for at least a pair of targets to be controlled, each of the pair of output control systems having a control circuit section, respectively;
a pair of crossing circuits, one of the pair of crossing circuits connecting from an input side of the control circuit section of the one of the pair of output control systems to an output side of the control circuit section of the other of the pair of output control systems, the other of the pair of crossing circuits connecting from an input side of the control circuit section of the other of the pair of output control systems to an output side of the control circuit section of the one of the pair of output control systems; and
a transfer function section provided in each of the pair of crossing circuits.

### Claim 2 (depends on 1)

The cooperative control device according to claim 1, in which the control targets are at least a pair of left and right wheels or a pair of front and rear wheels of a vehicle.

### Claim 3 (depends on 2)

The cooperative control device according to claim 2, in which a rotation speed of at least the pair of left and right wheels or the pair of front and rear wheels are subjected to the cooperative control.

### Claim 4 (depends on 2)

The cooperative control device according to claim 2, in which torque of at least the pair of left and right wheels or the pair of front and rear wheels are subjected to the cooperative control.

### Claim 5 (depends on 1)

The cooperative control device according to claim 1, in which the control targets are at least a pair of robot arms.