Toyota Jidosha Kabushiki Kaisha

Toshio Fuwa

Yoshinori Kadowaki

Akihiro Yanai

Takashi Izuo

Issei Nakashima

Hiroyuki Hattori

Tatsuo Iida

Masahiko Asano

Masaaki Yamaoka

Keiji Yoeda

Isao Matsumoto

Koji Yamada

Yoshikazu Motozono

Hiroshi Satou

Kenji Tsubone

Mitsuo Koide

Shoji Katsumata

Yuichiro Hayase

Yushi Takeuchi

A film transport apparatus includes: an edge sensor that detects a lateral position deviation of a film; a lateral position correction device that corrects a lateral position of the film with a guide roll; a tension sensor that detects tensions applied respectively near left and right ends of the film; and a control unit that executes feedback control such that the lateral position correction device is controlled on the basis of the lateral position deviation detected by the edge sensor so that the film is located at a target position. The control unit changes the feedback control based on a left and right tension difference, which is a difference between the tension applied near the left end of the film and the tension applied near the right end of the film, the tensions being detected by the tension sensor.

Film transport apparatus and film transport control method

A web meandering correction system () includes: an edge detector () that detects an edge position signal of a web; an HPF processing unit () that executes a high-pass filtering process on the edge position signal using a predetermined lower limit frequency as a reference; a high-frequency noise analyzing unit () that analyzes high-frequency noise that has passed through the HPF processing unit (); an LPF processing unit () that executes a low-pass filtering process on the edge position signal using a predetermined upper limit frequency as a reference; a coefficient setting unit () that sets a coefficient that determines the characteristics of the low-pass filtering process on the basis of a result of analysis by the high-frequency noise analyzing unit (); and a meandering correction unit () that corrects meandering of the web on the basis of information acquired by the LPF processing unit ().

Web meandering correction system and web meandering correction method

A traveling deviceincludes ground touching detection means to detect a ground touching state in which a ground touching member touches a road surface, and control means to perform inversion control by controlling the driving of a wheel. When a ground touching state of the ground touching member is detected by the ground touching detection means, the control means suspends the inversion control. Further, when the start of braking is detected by the braking detection means and a ground touching state of the ground touching member is detected by the ground touching means, the control means may suspend the inversion control.

Traveling device and its control method

An inverted wheel type moving body according to the present invention includes a right chassisand a left chassisrotationally supporting wheels, motorsandrotationally driving a right driving wheeland a left driving wheel, a bodyrotatably supported on the right chassisand the left chassisthrough a right armand a left arm, lower joint motorsanddisposed in the right armand the left armand varying vehicle height of the moving body, and a control unitthat controls the lower joint motorsandto lower the vehicle height based on a fail signaloutput when the inverted wheel type moving body is in an abnormal state.

Inverted wheel type moving body and method of controlling the same

A vehicle includes first and second rotary bodies in contact with a road surface. The vehicle also includes a rotation sensor that detects a rotational state of each of the first and second rotary bodies. Additionally, the vehicle includes a turning sensor that detects a physical quantity representing a turning state of the vehicle on the road surface. The vehicle also includes a calculation unit that calculates a predicted value of a turning parameter representing a turning amount of the vehicle by use of a difference between first and second physical quantities which represent the rotational states of the first and second rotary bodies. In addition, the vehicle includes a slip detection unit that detects occurrence of a slip of the first or second rotary body by comparing the predicted value with an actual measured value of the turning parameter obtained by receiving an output signal of the turning sensor.

Vehicle and control method of the same

An inverted wheel type moving body according to the present invention includes a right chassisand a left chassisrotationally supporting wheels, motorsandrotationally driving a right driving wheeland a left driving wheel, a bodyrotatably supported on the right chassisand the left chassisthrough a right armand a left arm, lower joint motorsanddisposed in the right armand the left armand varying vehicle height, a travel control modulecontrolling the motorsandso as to follow calculated accelerations, and a posture control modulecontrolling the lower joint motorsandto lower the vehicle height and change a position of a center of mass of the bodywith respect to an axle in a front-back direction in accordance with the accelerations when the accelerations exceeds a certain range.

An inverted wheel type moving body that can enhance convenience and a method of controlling the same. The inverted wheel type moving body includes a right chassis and a left chassis rotationally supporting a right driving wheel and a left driving wheel, motors rotationally driving the right driving wheel and the left driving wheel, a body rotatably supported on the right chassis and the left chassis through a right arm and a left arm, a pressure-sensitive sensor provided to judge whether a transportation object dismounts, and a control unit controlling the motors to reduce velocity upon judgment that the transportation object dismounts based on the output from the pressure-sensitive sensor when the moving body travels faster than a certain velocity, in which overturn preventing operation is executed after an absolute value of the velocity is lower than a threshold value.

A control method is proposed for a traveling dolly. The traveling dolly may include wheels driven by motors and a body supported by the wheels. The traveling dolly may further include a control computer commanding control command value to the motors, and a centroid of the body positioning above a rotation axis of the wheels. The control method may include the control computer estimating external force moment, which is a moment of inertia around the rotation axis of the wheels generated by external force applied on the body; a tilt angle of the body, which makes a gravity moment around the rotation axis of the centroid of the body balance with the external force moment, being set as a target body tilt angle; and based on the target body tilt angle, calculating a torque command value for the motors.

Control method of traveling dolly

A meander control is performed by using: a guide roller that alters the conveying direction of a aluminum sheet conveyed along a conveying path; a first edge sensor that detects the amount of meandering at a first detection position that is upstream of the guide roller; a second edge sensor that detects the amount of meandering at a second detection position between the first edge sensor and the guide roller; and a control device that calculates an error contained in a first gain of a first feedforward model on the basis of a detected value from the first edge sensor and a detected value from the second edge sensor, and corrects a second gain of a second feedforward model by the calculated error, and then calculates a guide position-estimated amount of meandering on the basis of the second feedforward model and the detected value from the second edge sensor.

Meander control system, and meander control method

A moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. The moving body includes: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: a device for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; a device for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and a device for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.

Moving body with tilt angle estimating mechanism

The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking attitude control unit for controlling the attitude actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.

Coaxial two-wheeled inverted pendulum type moving vehicle

A running object includes a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.

Running object and method of controlling the same

A running machine that can prevent overturning of a body in the case of occurrence of an abnormality is provided. The running machine substantially supports the body with coaxially arranged drive wheels, and can drive while maintaining the balance of the body. A control module of the machine comprises a stabilization controller that computes a first torque command for maintaining the balance of the body and a travel controller that computes a second torque command for driving the running machine. A sum of the first torque command and the second torque command is inputted into the motors. When an abnormal condition detector detects occurrence of an abnormal condition, a safe mode controller prohibits the travel controller from outputting the second torque command. This could enable all torque that the motors can output to be used to maintain the balance of the body when occurrence of an abnormal condition is detected. Therefore, even when occurrence of an abnormal condition is detected, the balance of the body can be maintained. Or even if the balance cannot be maintained, it is possible to extend duration before overturning. During the duration, by pulling out a safety wheel from the body, for instance, overturning of the body can be prevented.

Running machine with wheels

In an electromagnetically driven valve control system, it is determined whether an electromagnetically driven valve is in an attraction period at which a valve body is displaced. When it is determined that the electromagnetically driven valve is in the attraction period, it is further determined whether the period is in a first attraction period at which the valve body is close to a neutral position. When it is determined that the valve body is in the first attraction period, the upper control frequency or the lower control frequency is set to the value indicating the low frequency. When it is determined that the valve body is in the second attraction period at which the valve body is close to either the full-open position or the full-close position, the upper control frequency or the lower control frequency is set to the value indicating the high frequency.

Electromagnetically driven valve control system and method

A control apparatus for an electromagnetically driven valve is provided which is applied to an electromagnetically driven valve in which a movable portion including an armature and a valve element is driven using an electromagnetic force generated by an electromagnet. This control apparatus includes a controller. This controller performs feedback control such that a value of a current which is actually supplied to the electromagnet becomes substantially equal to a value of a desired attracting current when displacing the movable portion by supplying an attracting current to the electromagnet. Further, the controller variably sets a feedback gain used in feedback control of the attracting current, based on a distance between the electromagnet and the armature.

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Nisshin, Japan

Toshio Fuwa