The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 27, 2010
Filed:
Jun. 03, 2004
Shinji Ishii, Kanagawa, JP;
Shinji Ishii, Kanagawa, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
In a coaxial two-wheeled vehicle, an attitude controller () 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 θcalculated by using a gyro sensor () and an acceleration sensor (). On the other hand, at a position proportional controller (R), a differentiator (R) and a velocity proportional controller (R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (R) for right wheel and current rotation position θr of a motor rotor (R). A current control amplifier (R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque Tcalculated by using pressure sensors to drive the motor rotor (R).