Development of hybrid mobile system using rotor's counter torque as steering function
Development of hybrid mobile system using rotor's counter torque as steering function
复制标题
利用转子反扭矩作为转向功能的混合动力移动系统的开发
DOI：
10.1109/iecon.2016.7793912
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
H. Hashimoto
中科院分区：
文献类型：
--
作者：
Satoshi Kaneki;S. Yokota;D. Chugo;H. Hashimoto
本研究的目的是研制由同轴转子和单驱动轮组成的组合式移动的系统。传统的组合移动的系统导致致动器数量的增加，因为致动器从不被每个移动的机构共享，而是被单独地用于每个移动的机构。然而，在所提出的移动的系统中的致动器是由组合的两个机构共享。所提出的系统最大限度地减少了增加的致动器的数量，通过免除在车轮机构的转向电机。转子产生的反扭矩改变了车身的方向，替代了车轮机构的转向功能。反扭矩最初是干扰移动的系统的定向的负面影响。然而，所提出的系统主动地使用该反扭矩来实现作为车轮机构的转向功能。通过旋转转子，反扭矩被施加到主体。然后身体的方向就改变了。通过这种方式，可以控制主体的取向。特别讨论了这种移动的系统的可行性，并介绍了样机和地面行走的基本实验结果。
The purpose of this research is to develop the combination mobile system composed of coaxial rotors and single driving wheel. A conventional combination mobile system causes increase of the number of actuators, because actuators are never shared by each mobile mechanisms, but are adopted for each mobile mechanism individually. However, the actuator in the proposed mobile system is shared by combined two mechanism. The proposed system minimizes an increase the number of actuators by dispensing with a steering motor in wheel mechanism. A counter torque generated by rotors changes the orientation of the body, and it becomes substitute of steering function in wheel mechanism. A counter torque, originally, is negative effect disturbing an orientation of a mobile system. However the proposed system actively uses this counter torque to realize steering function as wheel mechanism. By rotating the rotor, the counter torque is applied to the body. And then the orientation of the body is changed. By this manner, it is possible to control the orientation of the body. In particular, this paper discusses the feasibility of this mobile system and introduces the prototype with basic experimental results of ground travelling.