Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1992-09-03
1993-05-04
Ip, Paul
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
318586, 318139, 15319, 180169, 901 1, A47L 928
Patent
active
052085210
ABSTRACT:
A control system for a self-moving vehicle is provided with a pair of driving wheels on both sides of a shaft of a vehicle, motors for driving the driving wheels, velocity encoders for outputting velocity feedback signals in detecting the rotational velocities of the driving wheels being connected to the driving wheels, a main control apparatus for outputting velocity instruction signals instructing the rotational velocities of motors being given a direction instruction signals, a gyro for detecting a yaw rate of the vehicle, and a motor control apparatus for executing the controls of motors in integrating the velocity instruction signals and the velocity feedback signals with integrators for each period of time, and correcting the integrated velocity instruction signals with the integrated velocity feedback signals. The main control apparatus outputs the velocity instruction signal corrected with the integrated value of the yaw rate in the case where the integrated value of the yaw rate detected by the gyro for each fixed period of time is larger than a specified value or the value of the yaw rate is larger than another specified value so as to obtain an optimum directional and speed control of said self-moving vehicle without receiving an error from said gyro.
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Fuji Jukogyo Kabushiki Kaisha
Ip Paul
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