車両 - Equus Research Co., Ltd.

Title:

車両

Document Type and Number:

Japanese Patent JP4794327

Kind Code:

B2

Abstract:

To dynamically control the posture of a vehicle by moving a balancer in the vehicle which utilizes the posture control by an inverted pendulum.

A tilt of the car body is detected by a gyroscope sensor, and from the angular acceleration, a torque T1 to a tilt of a riding section is calculated. Then, a torque T2 for returning the riding section in the opposite direction from the tilting direction by canceling the torque T1 is generated by the moving of the balancer. That is, by driving the balancer by the torque T2 (>T1) in the tilting direction of the riding section, a reactive torque T3 for the torque T2 is applied to the riding section. By the reactive torque T3, the riding section is pushed back in the opposite direction from the first tilting direction. By the pushing back of the riding section in the opposite direction, an angular acceleration when the riding section tilts to the opposite side to the vertical line is detected by the gyroscope sensor, and the balancer is moved again in the opposite direction by the torque T2 corresponding to the angular acceleration.

Inventors:

Nobuaki Miki
Horiguchi Munehisa
Tachibana Takumi
Fumihiko Sakakibara
Toshio Fukuda
Takayuki Matsuno

Application Number:

JP2006064522A

Publication Date:

October 19, 2011

Filing Date:

March 09, 2006

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