Electricity: motive power systems – Plural – diverse or diversely controlled electric motors – Running-speed control
Reexamination Certificate
2006-11-21
2006-11-21
Leykin, Rita (Department: 2837)
Electricity: motive power systems
Plural, diverse or diversely controlled electric motors
Running-speed control
C318S068000, C318S059000, C318S066000, C318S254100, C318S132000, C318S772000, C318S779000, C318S799000, C318S823000, C388S800000
Reexamination Certificate
active
07138772
ABSTRACT:
The invention provides an electrically movable vehicle drivable by a simplified mode of control and a control program for driving the vehicle. A normalized value Y′ representing translation motion and a normalized value X′ representing turning motion are fed from a command value input unit110to a velocity command value calculating unit120. The calculating unit120determines a translation velocity command value Vg—trgbased on the normalized value Y′. The calculating unit120determines a turn angular velocity command value ωf—trgthat will always satisfy Expression (2–4) for preventing the vehicle from falling down. The translation velocity command value Vg—trgand the turn angular velocity command value ωf—trgdetermined by the unit120are fed to a control command value calculating unit130, which calculates control command values for left and right drive wheels. The control command values are fed to a motor control unit140to control motors Mr, Ml and control the drive wheels.
REFERENCES:
patent: 6615937 (2003-09-01), Richey et al.
patent: 6988570 (2006-01-01), Takeuchi
patent: 2001/0006125 (2001-07-01), Richey et al.
patent: 2002/0011361 (2002-01-01), Richey et al.
patent: 2001-104396 (2001-04-01), None
Akagi Takayoshi
Noro Takuya
Leykin Rita
Sanyo Electric Co,. Ltd.
Westerman, Hattori, Daniels & Adrian , LLP.
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