VEHICLE CONTROLLER

• Main Authors: MORITA MAKOTO, HACHIYA KOHEI, MASE HISAYASU, GOYAMA TAKAYA, TOZU KENJI, OKAYAMA NAOKI, YANAKA TAKEHIRO
• Format: Patent
• Language: English; Japanese
• Published: 14.04.2016
• Subjects: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES; ELECTRICITY; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL; GENERATION; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; PERFORMING OPERATIONS; TRANSPORTING; VEHICLES IN GENERAL

PROBLEM TO BE SOLVED: To compensate for accuracy of a rotation angle detected by a sensor to improve accuracy.SOLUTION: A vehicle controller comprises: a motor and a second motor which can adjust a vehicle position by controlling a drive shaft driving a plurality of wheels installed in the vehicle; an electric angle sensor which detects an electric angle of the motor; an absolute angle sensor which detects an absolute rotation angle of the drive shaft; a correction unit which corrects the absolute rotation angle detected by the absolute angle sensor on the basis of the electric angle detected by the electric angle sensor at the initial operation; and a control unit which calculates an actual angle of the drive shaft on the basis of the corrected absolute rotation angle and the electric angle, and performs a position control using the motor on the basis of the actual angle and the inputted position command to stabilize attitude of the vehicle.SELECTED DRAWING: Figure 9 【課題】センサで検出される回転角の精度を補償して、精度をより向上させること。【解決手段】実施形態の車両制御装置は、車両に設けられた複数の車輪を駆動する駆動軸を制御して、前記車両の位置を調整可能なモータおよび第２モータと、前記モータの電気角を検出する電気角センサと、前記駆動軸の絶対回転角を検出する絶対角センサと、初期動作時に、前記絶対角センサで検知された絶対回転角を、前記電気角センサで検知された電気角に基づいて補正する補正部と、を備え、前記モータに対して、補正後の絶対回転角と前記電気角とから前記駆動軸の実角を算出し、前記実角と、入力される位置指令とに基づいて、車両の姿勢を安定させるための位置制御を行う制御部と、を備えた。【選択図】図９