JP6373235B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device including a motor that rotates a rotating object and a motor control system that controls rotation of the motor.

  2. Description of the Related Art Conventionally, there is known a motor control device that includes a motor that rotates a rotating object and a motor control system that controls rotation of the motor. For example, a motor control device described in Patent Document 1 controls the rotation of a motor based on a deviation between a speed command value for controlling the rotation speed of the motor and a speed detection value for detecting the rotation speed of the motor. A torque command value for control is output to torque control means (motor control system). The torque control means controls the rotation of the motor based on this torque command value.

JP 2010-93961 A

  However, in the motor control device described in Patent Document 1, since the torque control unit controls the rotation of the motor based on the torque command value, the relationship between the torque command value and the motor rotation is simple. As a result, there is a problem that the method of using the motor becomes simple.

  The objective of this invention is providing the control apparatus of the motor which can diversify the usage method of a motor.

A motor control device according to the present invention is a motor control device including a motor that rotates an object to be rotated and a motor control system that controls rotation of the motor, and a rotation target value that is a target for rotating the motor. A rotation command value for controlling the rotation of the motor by the motor control system by outputting the rotation target value generation unit to be generated and the rotation target value generated by the rotation target value generation unit by applying a weighting factor to the rotation target value A rotation command value changing unit for changing, and a weighting factor setting unit for setting a weighting coefficient of the rotation command value changing unit , the weighting factor setting unit based on information outside the motor control system arbitrarily setting the weighting coefficients, by setting the weighting coefficients of the rotation command value changing unit at the weighting factor setting unit to a predetermined value, the motor is an idle to said Rukoto regardless of the rotational target value .
The motor control device according to the present invention is a motor control device including a motor that rotates an object to be rotated and a motor control system that controls the rotation of the motor, and a rotation target that is a target for rotating the motor. Rotation target value generation unit that generates a value, and a rotation command for controlling the rotation of the motor in the motor control system by outputting the rotation target value generated by the rotation target value generation unit by applying a weighting factor to the rotation target value A rotation command value changing unit for changing a value, a weighting factor setting unit for setting a weighting factor of the rotation command value changing unit, and an operating means for receiving an operation input for operating the motor control device, and setting a weighting factor The unit arbitrarily sets the weighting factor of the rotation command value changing unit based on the operation input received by the operating means, and sets the weighting factor of the rotation command value changing unit to a predetermined value by the weighting factor setting unit. By Te, motor, characterized by idling regardless of the rotation target value.
The motor control device according to the present invention is a motor control device including a motor that rotates an object to be rotated and a motor control system that controls the rotation of the motor. 1 control system, a second control system according to a second usage purpose different from the first usage purpose, and a control system switching unit that switches between the first control system and the second control system, The first control system includes a rotation target value generation unit that generates a rotation target value that is a target for rotating the motor, and the second control system generates a rotation target value that is a target for rotating the motor. A rotation command for changing the rotation command value for controlling the rotation of the motor in the motor control system by outputting the rotation target value generated by the value generation unit and the rotation target value generation unit by applying a weighting coefficient. Assigns weighting factors for the value changer and rotation command value changer And a weighting factor setting unit for setting a first control system is characterized by having no rotation command value changing unit and the weighting factor setting unit.

  According to such a configuration, the rotation command value changing unit controls the rotation of the motor by the motor control system by outputting the rotation target value generated by the rotation target value generating unit by applying the weighting coefficient. Therefore, the motor control device can diversify the relationship between the rotation target value and the motor, and the method of using the motor can be diversified.

  Here, the rotation command value for controlling the rotation of the motor in the motor control system is a current command value or a voltage command value. For example, a current control system for inputting a voltage value for controlling the rotation of the motor to the motor based on a current command value for controlling the rotation of the motor and a detected current value for detecting the current value of the motor is a motor control system. In this case, the rotation command value is a current command value for controlling the rotation of the motor. For example, when a voltage control system that directly inputs a voltage command value for controlling the rotation of the motor without detecting the current value of the motor to the motor is a motor control system, the rotation command value is Is a voltage command value for controlling the rotation of the motor. In the case of the motor control device described in Patent Document 1 described above, the rotation command value is a torque command value (current command value). In other words, the rotation command value varies depending on the configuration of the motor control system.

  In the present invention, it is preferable that the weighting factor setting unit sets the weighting factor of the rotation command value changing unit in a range from 0 to 1.

  According to such a configuration, when the weighting coefficient of the rotation command value changing unit is set to 1, the motor can be rotated according to the rotation target value, and the weighting coefficient of the rotation command value changing unit is set to 0. When set, the motor can be idled. When the weight coefficient of the rotation command value changing unit is set larger than 0 and smaller than 1, the motor can be rotated according to a value smaller than the rotation target value. Therefore, the motor control device can diversify the relationship between the rotation target value and the motor, and can also diversify the method of using the motor.

Here, for example, when a motor connected to a wheel is rotated by a conventional motor control device, a mechanical clutch is connected between the motor and the wheel to connect the clutch and rotate the wheel. It is possible to switch between a state to be engaged, a state in which the clutch is disengaged and the wheel is idle, and a state of a half clutch that is intermediate between these two states.
On the other hand, when the motor connected to the wheel is rotated by the motor control device of the present invention, the weight of the rotation command value changing unit is connected without connecting a mechanical clutch between the motor and the wheel. A state in which the wheel is rotated by setting the coefficient to 1, a state in which the weighting coefficient of the rotation command value changing unit is set to 0 and the wheel is idled, and the weighting factor of the rotation command value changing unit is greater than 0 and less than 1 The set half clutch state can be switched. Therefore, the motor control device can be configured to be lighter than when a mechanical clutch is connected.

  In the present invention, it is preferable that the weighting factor setting unit gradually increases with the passage of time when the weighting factor of the rotation command value changing unit is increased.

  According to such a configuration, the motor control device, for example, sets the weighting coefficient of the rotation command value changing unit to 0 and sets the weight of the rotation command value changing unit from the idling state regardless of the rotation state of the motor. When the motor is rotated with the weighting coefficient set to be greater than 0, the motor can be gradually rotated with the passage of time. Safety can be improved.

  In the present invention, the rotation target value generation unit generates a current target value that is a target of the current for rotating the motor as the rotation target value, and the motor control system includes a current command value for controlling the rotation of the motor, the motor And a current control system for inputting a voltage value for controlling the rotation of the motor to the motor based on the detected current value of the current value, and the rotation command value changing unit is generated by the rotation target value generating unit It is preferable to change the current command value for controlling the rotation of the motor in the current control system as the rotation command value by outputting the current target value with a weighting factor.

  According to such a configuration, the rotation command value changing unit controls the rotation of the motor by the motor control system by outputting the current target value generated by the rotation target value generating unit by applying the weighting coefficient. Therefore, the motor control device can diversify the relationship between the current target value and the motor, and thus the method of using the motor can also be diversified.

  In the present invention, the rotation target value generation unit generates a speed target value that is a target of the speed for rotating the motor as the rotation target value, and the motor control system is input from the outside in order to control the rotation speed of the motor. Based on the speed command value and the rotation speed of the motor, a speed control system that outputs a current command value for controlling the rotation of the motor, a current command value output from the speed control system, and a current value of the motor And a current control system for inputting a voltage value for controlling the rotation of the motor to the motor based on the detected current detection value, and the rotation command value changing unit is a speed target value generated by the rotation target value generating unit. The speed control system controls the rotation of the motor by generating a speed command value based on the motor rotation speed and the weight coefficient set by the weight coefficient setting unit and outputting it to the speed control system. Current command value for It is preferably changed as the rotation command value.

  According to such a configuration, the rotation command value changing unit is based on the speed target value generated by the rotation target value generating unit, the rotation speed of the motor, and the weighting factor set by the weighting factor setting unit. Thus, by generating the speed command value and outputting it to the speed control system, the current command value for controlling the rotation of the motor in the speed control system can be indirectly changed. Therefore, for example, even when using a packaged motor control system in which the current command value cannot be directly changed by the rotation command value changing unit, the motor control device can In addition, the relationship between the motor and the motor can be diversified, and the usage method of the motor can also be diversified.

Schematic view of the land mobile unit according to the first embodiment of the present invention viewed from the side. Schematic view of a land mobile unit from the top side The figure which shows the state which uses the land mobile Schematic view of a land mobile unit transformed into a handcart mode from the side Schematic view of a land vehicle that has been transformed into a handcart mode from the top side The figure which shows the state which is using the land-based moving body transformed into the hand cart mode Functional block diagram of control means The figure which shows the detection range of the distance sensor Enlarged view of joystick Block diagram showing the detailed configuration of the boarding mode control system Block diagram showing detailed configuration of handcart mode control system The block diagram which shows the detailed structure of the handcart mode control system which concerns on 2nd Embodiment of this invention. The figure which shows the detection range of a distance sensor in the case of switching the operation mode of a control means based on the direction of the target object detected by the distance sensor The figure which shows the example which made the rotation command value for controlling rotation of the motor in a motor control system the voltage command value

[First Embodiment]
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings.
[Overall configuration of land mobile unit]
FIG. 1 is a schematic view of a land mobile unit according to the first embodiment of the present invention viewed from the side surface side. FIG. 2 is a schematic view of the land mobile body as seen from the upper surface side.
As shown in FIGS. 1 and 2, the land mobile body 1 includes a main body 2 that moves on land, and a control means 3 that controls the movement of the main body 2.
In FIG. 1 and FIG. 2, the forward direction of the land mobile body 1 is the left direction of the page, this direction is the + X axis direction, the vertically upward direction is the + Z axis direction, and the axes orthogonal to the X axis and the Z axis are This will be described as the Y axis. The same applies to the following drawings.

The land mobile body 1 has a first use purpose of traveling with a user on the main body 2, a boarding mode as a first use mode corresponding to the first use purpose, and the main body 2. The second purpose of use is that the user travels with his / her hand on the load, and reversibly changes between the handcart mode as the second mode of use corresponding to the second purpose of use. It is configured to be able to.
Therefore, in this embodiment, the main body 2 is configured by reversibly deforming the first usage pattern according to the first usage purpose and the first usage pattern. And a second usage pattern according to a different second usage purpose.

First, the structure of the land mobile body 1 will be described with reference to FIGS. 1 and 2 showing the land mobile body 1 transformed into the boarding mode.
The main body 2 includes a pair of left and right drive wheels 21, a pair of left and right auxiliary wheels 22, a base frame 23 provided vertically above the drive wheels 21 and the auxiliary wheels 22, and a base frame for mounting a user, luggage, and the like. 23 and a handle 25 provided vertically above the base frame 23. The main body 2 of the land mobile body 1 moves on the land by rotating the drive wheels 21.

Each of the pair of left and right drive wheels 21 is connected to a base frame 23 via a frame 21A and is rotatable about the Y axis with respect to the frame 21A. Each of the frames 21A includes a motor 21B that rotates the drive wheels 21 around the Y axis.
Each of the pair of left and right auxiliary wheels 22 is connected to the base frame 23 via a frame 22A, and is rotatable about the Y axis and the Z axis with respect to the frame 22A.

The base frame 23 includes a distance sensor 23A attached on the + X axis direction side, and the distance sensor 23A detects a distance to the object. The control means 3 described above is accommodated in the base frame 23.
The mounting portion 24 is attached to the base frame 23 so that the upper surface thereof is a horizontal plane so that a user, luggage, or the like can be mounted on the upper surface.

The handle 25 includes a joystick 25A provided on the upper side in the −Y-axis direction, and is connected to the base frame 23 via a handle frame 25B.
The joystick 25A functions as an operation unit that receives an operation input for operating the movement of the main body 2. The function of the joystick 25A will be described in detail later.
In the present embodiment, the land mobile body 1 employs the joystick 25A as the operation means, but other operation means such as a push button may be employed.

  The handle frame 25B can be rotated about the Y axis around the base frame 23 by unlocking a lock (not shown), and fixed to the base frame 23 at a predetermined rotational position by locking the lock. It is configured to be able to.

FIG. 3 is a diagram illustrating a state in which the land mobile body is used.
As shown in FIG. 3, the land mobile body 1 can travel with a user on the main body 2. Specifically, the user can run the land mobile body 1 by holding the handle 25 while sitting on the mounting portion 24 of the main body 2 and operating the joystick 25A.

FIG. 4 is a schematic view of the land mobile body deformed to the hand cart mode as viewed from the side. FIG. 5 is a schematic view of the land mobile body deformed in the hand cart mode as viewed from the upper surface side.
As shown in FIGS. 4 and 5, the land mobile 1 is fixed to the base frame 23 by rotating the handle frame 25B and lowering the handle 25 (see the arrow in FIG. 4). Can be transformed into In other words, the land mobile body 1 can be transformed into the boarding mode by rotating the handle frame 25B and fixing the handle 25 to the base frame 23 at the raised position (see FIGS. 1 and 2). it can.

FIG. 6 is a diagram illustrating a state in which the land mobile body deformed to the hand cart mode is used.
As shown in FIG. 6, the land mobile body 1 travels with the user putting a load P on the main body 2 from the opposite side of the joystick 25 </ b> A with the position of the user in the boarding mode. can do. Specifically, the user places the load P on the mounting portion 24 of the main body 2, stands on the + X-axis direction side of the drive wheel 21, holds the handle 25 with his hand attached to the main body 2, and holds the joystick 25 </ b> A. By operating, the land mobile body 1 can be run.

[Detailed configuration of control means]
FIG. 7 is a functional block diagram of the control means.
As shown in FIG. 7, the control means 3 controls the boarding mode control system 31 (first control system) that controls the movement of the main body 2 transformed into the boarding mode, and the movement of the main body 2 transformed into the handcart mode. A hand cart mode control system 32 (second control system), and a control system switching unit 33 that switches between the boarding mode control system 31 and the hand cart mode control system 32.
Further, the control means 3 is transformed into a boarding mode operation system 34 (first operation system) for operating the movement of the main body 2 transformed into the boarding mode in response to an operation input received by the joystick 25A, and a hand cart mode. Operation system switching for switching between a handcart mode operation system 35 (second operation system), a boarding mode operation system 34, and a handcart mode operation system 35 that operates according to an operation input received by the joystick 25A. Part 36.

  The boarding mode control system 31 drives the motor 21B based on the command value output from the boarding mode operation system 34 to rotate the pair of left and right driving wheels 21, thereby moving the body 2 transformed into the boarding mode. Control. Specifically, the boarding mode control system 31 moves the main body 2 forward or backward by rotating the pair of left and right drive wheels 21 in the same direction. Moreover, the boarding mode control system 31 rotates the main body 2 to the right or left by rotating the pair of left and right drive wheels 21 in the reverse direction.

The boarding mode control system 31 has a maximum speed of about 10 km / h (speed when the command value output from the boarding mode operation system 34 is maximum).
In addition, the boarding mode control system 31 uses the distance sensor 23A to execute a process of detecting an obstacle present on the + X axis direction side of the main body 2. When the obstacle is detected, the boarding mode control system 31 brakes the pair of left and right drive wheels 21 to increase the moving speed of the main body 2 regardless of the command value output from the boarding mode operation system 34. Decelerate or stop moving the main body 2.

FIG. 8 is a diagram illustrating a detection range of the distance sensor.
As shown in FIG. 8, the distance sensor 23 </ b> A can detect an object existing in a detection range AR of about 270 degrees with the + X axis direction as the center. Specifically, the distance sensor 23A can detect the direction in which the object exists and the distance to the object.
Here, the boarding mode control system 31 is set so as not to include the driving wheel 21 in the first detection range AR1 for detecting an object farther than a predetermined distance in the detection range AR of the distance sensor 23A. By using the (detection range), a process of detecting an obstacle existing on the + X axis direction side of the main body 2 is executed.

Therefore, in the present embodiment, the boarding mode control system 31 also functions as a standard function execution unit that executes a standard function (detection of an obstacle) by using the first detection range AR1 of the distance sensor 23A.
In the present embodiment, the base frame 23 functions as an information processing device including a distance sensor 23A that detects the distance to the object and a control unit 3 that controls the distance sensor 23A.
In this embodiment, the standard function execution unit executes obstacle detection as a standard function. However, other functions may be executed. In short, the standard function execution unit may execute the standard function by using the first detection range of the distance sensor.

The hand cart mode control system 32 drives the motor 21B and rotates the pair of left and right drive wheels 21 on the basis of the command output from the hand cart mode operation system 35, thereby changing the main body 2 transformed into the hand cart mode. Control movement. Specifically, the hand cart mode control system 32 moves the main body 2 forward or backward by rotating the pair of left and right drive wheels 21 in the same direction. Further, the hand cart mode control system 32 rotates the main body 2 to the right or left by rotating the pair of left and right drive wheels 21 in the reverse direction.
The hand cart mode control system 32 has a maximum speed of about 4 km / h (the speed when the command value output from the hand cart mode operation system 35 becomes maximum). The maximum speed of the hand cart mode control system 32 is set to be approximately the same as the speed at which a person slowly walks, and is smaller than the maximum speed of the boarding mode control system 31.
Unlike the boarding mode control system 31, the hand cart mode control system 32 does not execute processing for detecting an obstacle.

The control system switching unit 33 is a second detection range AR2 (a detection range set to include the drive wheels 21) that detects an object closer than a predetermined distance in the detection range AR of the distance sensor 23A. Is switched between the boarding mode control system 31 and the handcart mode control system 32. Specifically, the control system switching unit 33 is boarded when the time during which the object is detected in the second detection range AR2 of the distance sensor 23A is longer than a predetermined time (for example, 3 seconds). The mode control system 31 and the hand cart mode control system 32 are switched.
In the present embodiment, the first detection range AR1 and the second detection range AR2 of the distance sensor 23A are adjacent to each other, but a margin may be provided between them.

As described above, in the present embodiment, the control system switching unit 33 switches the operation mode of the control unit 3 by using the second detection range AR2 of the distance sensor 23A different from the first detection range AR1. To do.
In the present embodiment, the control system switching unit 33 is triggered by the fact that the time during which the object is detected in the second detection range AR2 of the distance sensor 23A is longer than a predetermined time. Although the hand cart mode control system 32 is switched, for example, the boarding mode control system 31 and the hand cart mode control system 32 may be switched based on the number of times the object is detected.

The boarding mode operation system 34 operates the movement of the main body 2 transformed into the boarding mode by converting the operation input received by the joystick 25A into a command value and inputting it to the boarding mode control system 31.
The handcart mode operation system 35 converts the reversal operation input obtained by reversing the operation input received by the joystick 25A into a command value and inputs the command value to the handcart mode control system 32, thereby transforming the main body 2 transformed into the handcart mode. Manipulate the movement of.

FIG. 9 is an enlarged view of the joystick. Specifically, FIG. 9A is a diagram showing the joystick 25A when the movement of the main body 2 is operated by the boarding mode operation system 34, and FIG. It is a figure which shows the joystick 25A when operating the movement of the main body 2.
As shown in FIG. 9A, the boarding mode operation system 34 advances (RF) the main body 2 when the joystick 25A is tilted toward the + X-axis direction. The boarding mode operation system 34 retracts (RB) the main body 2 when the joystick 25A is tilted to the −X axis direction side. The boarding mode operation system 34 turns the main body 2 to the right (RR) when the joystick 25A is tilted to the −Y axis direction side. The boarding mode operation system 34 causes the main body 2 to turn left (RL) when the joystick 25A is tilted toward the + Y-axis direction.

  On the other hand, as shown in FIG. 9B, the hand cart mode operation system 35 moves the main body 2 forward (CF) when the joystick 25A is tilted to the −X axis direction side. The hand cart mode operation system 35 retracts (CB) the main body 2 when the joystick 25A is tilted toward the + X-axis direction. The hand cart mode operation system 35 causes the main body 2 to turn right (CR) when the joystick 25A is tilted toward the + Y-axis direction. The hand cart mode operation system 35 turns the main body 2 to the left (CL) when the joystick 25A is tilted to the −Y axis direction side.

Here, in the handcart mode operation system 35, the direction in which the pair of left and right drive wheels 21 are rotated when the joystick 25 </ b> A is tilted toward the −Y axis direction is reversed with respect to the boarding mode operation system 34. In the hand cart mode operation system 35, the direction in which the pair of left and right drive wheels 21 are rotated when the joystick 25A is tilted toward the + Y-axis direction is reversed with respect to the boarding mode operation system 34.
As described above, the boarding mode operation system 34 operates the movement of the main body 2 transformed into the boarding mode according to the operation input received by the joystick 25A, and the hand cart mode operation system 35 is the main body transformed into the hand cart mode. 2 is operated according to a reversal operation input obtained by reversing the left and right of the operation input received by the joystick 25A.

The operation system switching unit 36 switches to the boarding mode operation system 34 when the control system switching unit 33 switches the operation mode of the control means 3 to the boarding mode control system 31. Further, the operation system switching unit 36 switches to the hand cart mode operation system 35 when the control system switching unit 33 switches the operation mode of the control means 3 to the hand cart mode control system 32.
In other words, the operation system switching unit 36 sets the second detection range AR2 for detecting an object closer than a predetermined distance in the detection range AR of the distance sensor 23A (set so as not to include the drive wheels 21). , The boarding mode operation system 34 and the handcart mode operation system 35 are switched. Specifically, the operation system switching unit 36 is boarded when the time during which the object is detected in the second detection range AR2 of the distance sensor 23A is longer than a predetermined time (for example, 3 seconds). The mode operation system 34 and the hand cart mode operation system 35 are switched.

As described above, in the present embodiment, the operation system switching unit 36 switches the operation mode of the control unit 3 by using the second detection range AR2 of the distance sensor 23A different from the first detection range AR1. To do.
In the present embodiment, the operation system switching unit 36 is triggered by the fact that the time during which the object is detected in the second detection range AR2 of the distance sensor 23A is longer than a predetermined time. Although the hand cart mode operation system 35 is switched, for example, the boarding mode operation system 34 and the hand cart mode operation system 35 may be switched based on the number of times the object is detected.

Accordingly, the user rotates the handle frame 25B and fixes the handle 25 to the base frame 23 at a position where the handle 25 is lowered, thereby transforming the land mobile body 1 into the hand cart mode, and then the distance sensor 23A. It is possible to switch to the hand cart mode control system 32 and the hand cart mode operation system 35 by holding the hand over the detection range AR2 of 2.
In addition, the user rotates the handle frame 25B and fixes the handle 25 to the base frame 23 at a position where the handle 25 is raised, thereby transforming the land mobile body 1 into the boarding mode, and then the second sensor 23A of the distance sensor 23A. It is possible to switch to the boarding mode control system 31 and the boarding mode operation system 34 by holding the hand over the detection range AR2.
The user can check the current operation mode of the control means 3 by referring to the LED (not shown) attached to the main body 2.

Therefore, in the present embodiment, the control system switching unit 33 and the operation system switching unit 36 use the second detection range AR2 of the distance sensor 23A different from the first detection range AR1, thereby providing a standard function (obstacle). It also functions as a special function execution unit that executes a special function (switching of the operation mode of the control means 3) that is different from the above.
In the present embodiment, the special function execution unit executes the switching of the operation mode of the control unit as a special function, but may execute other functions. For example, the special function execution unit may execute a function of determining the usage mode (boarding mode or handcart mode) of the main body 2 by using the second detection range AR2 of the distance sensor 23A. In short, the special function execution unit may execute a special function different from the standard function by using the second detection range of the distance sensor different from the first detection range.

[Detailed configuration of boarding mode control system]
FIG. 10 is a block diagram showing a detailed configuration of the boarding mode control system.
As shown in FIG. 10, the boarding mode control system 31 has a current command value for controlling the rotation of the motor 21 </ b> B that rotates the driving wheel 21 as the rotation target, and a current detection value that detects the current value of the motor 21 </ b> B. Based on the current control system 311 for inputting the voltage value for controlling the rotation of the motor 21B to the motor 21B, the speed command value for controlling the rotational speed of the motor 21B, and the rotational speed of the motor 21B. And a speed control system 312 that outputs a current command value for controlling the rotation of the motor 21B.
The motor 21B includes an inverter (not shown) that drives the motor 21B, a sensor (not shown) that detects a current value of the motor 21B, and the like. Further, the drive wheel 21 is connected to the motor 21B via a speed reducer (not shown).

  As described above, the boarding mode control system 31 drives the motor 21B and rotates the pair of left and right drive wheels 21 based on the command value (speed command value) output from the boarding mode operation system 34. The movement of the main body 2 transformed into the boarding mode is controlled. Here, the boarding mode operation system 34 is about 10 km / h when the joystick 25A is tilted to the maximum, and the amount by which the joystick 25A is tilted so that it becomes 0 km / h when the joystick 25A is not tilted (neutral). The speed command value is output according to

When a speed command value is output from the boarding mode operation system 34, the speed control system 312 generates a current command value for controlling the rotation of the motor 21B based on the speed command value and the rotation speed of the motor 21B. Output.
When the current command value is output from the speed control system 312, the current control system 311 controls the rotation of the motor 21 </ b> B based on the current command value and the current detection value obtained by detecting the current value of the motor 21 </ b> B. A value is input to the motor 21B.
The motor 21B rotates the drive wheel 21 based on the voltage value input from the current control system 311.

[Detailed configuration of wheelbarrow mode control system]
FIG. 11 is a block diagram showing a detailed configuration of the hand cart mode control system.
As shown in FIG. 11, the hand cart mode control system 32 detects a current command value for controlling the rotation of the motor 21 </ b> B that rotates the driving wheel 21 as a rotation target and a current detection that detects the current value of the motor 21 </ b> B. Based on the current value, the current control system 321 for inputting the voltage value for controlling the rotation of the motor 21B to the motor 21B, the speed command value for controlling the rotational speed of the motor 21B, and the rotational speed of the motor 21B. And a speed control system 322 that outputs a current command value for controlling the rotation of the motor 21B.
The motor 21B includes an inverter (not shown) that drives the motor 21B, a sensor (not shown) that detects a current value of the motor 21B, and the like. Further, the drive wheel 21 is connected to the motor 21B via a speed reducer (not shown).

  Therefore, in the present embodiment, the current control system 321 functions as a motor control system that controls the rotation of the motor 21B, and the land mobile unit 1 controls the motor 21B that rotates the drive wheels 21 and the rotation of the motor 21B. It functions as a motor control device provided with a current control system 321.

Further, the hand cart mode control system 32 outputs the current command value output from the speed control system 322 by applying a weighting factor to the current command value for controlling the rotation of the motor 21B by the current control system 321. A current command value changing unit 323 for changing the current command value, and a weighting factor setting unit 324 for setting the weighting factor of the current command value changing unit 323.
The weighting factor setting unit 324 sets the weighting factor of the current command value changing unit 323 in the range from 0 to 1.

  As described above, the hand cart mode control system 32 drives the motor 21B to rotate the pair of left and right drive wheels 21 based on the command value (speed command value) output from the hand cart mode operation system 35. Thus, the movement of the main body 2 transformed into the hand cart mode is controlled. Here, the hand cart mode operation system 35 tilts the joystick 25A so that it becomes about 4 km / h when the joystick 25A is tilted to the maximum, and 0 km / h when the joystick 25A is not tilted (neutral). The speed command value is output according to the amount.

When the speed command value is output from the hand cart mode operation system 35, the speed control system 322 controls the rotation of the motor 21B based on the speed command value and the rotation speed of the motor 21B. Is output.
When the current command value is output from the speed control system 322, the current command value changing unit 323 multiplies the current command value by the weighting factor set by the weighting factor setting unit 324 and outputs the current command value. To change.

Therefore, in the present embodiment, the speed control system 322 determines the current for rotating the motor 21B based on the speed target value (speed command value) that is the target of the speed for rotating the motor 21B and the rotation speed of the motor 21B. It functions as a rotation target value generation unit that generates a target current target value (current command value) as a rotation target value.
In the present embodiment, the current command value changing unit 323 controls the rotation of the motor 21B by the current control system 321 by outputting the current command value generated by the speed control system 322 by applying a weighting coefficient. It functions as a rotation command value changing unit that changes the current command value for the rotation as the rotation command value.

Here, the weighting factor setting unit 324 sets the weighting factor of the current command value changing unit 323 to 1 when the joystick 25A is tilted, and the current command value changing unit 323 when the joystick 25A is not tilted (neutral). Is set to 0. Then, when increasing the weighting coefficient of the current command value changing unit 323, the weighting factor setting unit 324 gradually increases with the passage of time.
Therefore, the hand cart mode control system 32 can rotate the motor 21B in accordance with the amount by which the joystick 25A is tilted when the joystick 25A is tilted, and the boarding mode when the joystick 25A is not tilted (neutral). Unlike the control system 31, the motor 21B can be idled.

When the current command value is output from the current command value changing unit 323, the current control system 321 controls the rotation of the motor 21B based on the current command value and the detected current value obtained by detecting the current value of the motor 21B. The voltage value to be input is input to the motor 21B.
The motor 21B rotates the drive wheels 21 based on the voltage value input from the current control system 321.

According to the present embodiment as described above, the following operations and effects can be achieved.
(1) The land mobile body 1 includes a main body 2 having a boarding mode and a handcart mode that are different in purpose of use, and the boarding mode and the handcart mode are configured to be reversibly deformable. It can adapt to the environment and improve convenience. Moreover, since the control system switching part 33 switches between the boarding mode control system 31 and the hand cart mode control system 32, the movement of the main body 2 is appropriately controlled by switching to the boarding mode control system 31 when it is transformed into the boarding mode. The movement of the main body 2 can be appropriately controlled by switching to the hand cart mode control system 32 when it is transformed into the hand cart mode.
(2) The maximum speed of the land mobile 1 is smaller in the handcart mode in which the user travels with the load P loaded on the main body 2 than in the boarding mode in which the user travels with the main body 2 Therefore, the safety of the land mobile 1 can be improved.

(3) Since the operation system switching unit 36 switches between the boarding mode operation system 34 and the handcart mode operation system 35, the user can move the main body 2 by switching to the boarding mode operation system 34 when transformed into the boarding mode. Can be appropriately operated, and the user can appropriately operate the movement of the main body 2 by switching to the hand cart mode operation system 35 when the vehicle is transformed into the hand cart mode.
(4) The boarding mode operation system 34 operates the movement of the main body 2 transformed into the boarding mode according to the operation input received by the joystick 25A, and the hand cart mode operation system 35 is transformed into the hand cart mode. Is moved in accordance with the reversal operation input obtained by reversing the operation input received by the joystick 25A, so that the user can travel with the user on the main body 2 and the user in the boarding mode. And a hand cart mode in which the user travels with the hand P on the main body 2 from the opposite position across the joystick 25A.

(5) The control system switching unit 33 and the operation system switching unit 36 provide a new switch or the like in the main body 2 by using the distance sensor 23A provided in the main body 2 in order to detect an obstacle. Without changing the operation mode of the control means 3. Specifically, the control system switching unit 33 can execute switching between the boarding mode control system 31 and the hand cart mode control system 32, and the operation system switching unit 36 is operated by the boarding mode operation system 34 and the hand cart mode operation. Since the switching of the system 35 can be performed, the number of parts of the land mobile body 1 can be reduced, and the manufacturing cost of the land mobile body 1 can be reduced.

(6) The control system switching unit 33 and the operation system switching unit 36 can switch the operation mode of the control unit 3 based on the distance to the object detected by the distance sensor 23A. Therefore, the control system switching unit 33 and the operation system switching unit 36 are compared with, for example, switching of the operation mode of the control means 3 based on the direction and size of the object detected by the distance sensor 23A. Thus, the configuration can be simplified.
(7) The control system switching unit 33 and the operation system switching unit 36 perform switching of the operation mode of the control unit 3 based on the time during which the object is detected in the second detection range AR2 of the distance sensor 23A. be able to. Accordingly, the control system switching unit 33 and the operation system switching unit 36 perform switching of the operation mode of the control unit 3 based on, for example, the number of times the object is detected in the second detection range AR2 of the distance sensor 23A. Compared to the case, the configuration can be simplified and malfunctions can be suppressed.

(8) The current command value changing unit 323 applies a weighting factor to the current command value generated by the speed control system 322 and outputs the current command value, thereby controlling the rotation of the motor 21B by the current control system 321. Since the command value is changed, the land mobile 1 can diversify the relationship between the current target value and the motor 21B, and thus the method of using the motor 21B can be diversified.
(9) When the weighting coefficient of the current command value changing unit 323 is set to 1, the motor 21B can be rotated according to the current target value, and the weighting coefficient of the current command value changing unit 323 is set to 0 In this case, the motor 21B can be idled. When the weight coefficient of the current command value changing unit 323 is set larger than 0 and smaller than 1, the motor 21B can be rotated according to a value smaller than the current target value.

(10) The land vehicle 1 rotates the driving wheel 21 by setting the weighting coefficient of the current command value changing unit 323 to 1 without connecting a mechanical clutch between the motor 21B and the driving wheel 21. A state in which the weight coefficient of the current command value changing unit 323 is set to 0 and the drive wheel 21 is idled, and a state of a half clutch in which the weight coefficient of the current command value changing unit 323 is set to be greater than 0 and less than 1. Can be switched. Therefore, the land mobile 1 can be configured to be lighter than when a mechanical clutch is connected.
(11) The land mobile unit 1 sets the weighting coefficient of the current command value changing unit 323 from the state in which the motor 21B is idled by setting the weighting coefficient of the current command value changing unit 323 to 0 regardless of the rotation state of the motor. Since the motor 21B can be gradually rotated with the passage of time when the motor 21B is set to be larger than 0 and rotated, the land mobile unit 1 can be driven without causing excessive rotation change of the motor. Safety can be improved.

[Second Embodiment]
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.
In the following description, parts that have already been described are assigned the same reference numerals and description thereof is omitted.

FIG. 12 is a block diagram showing a detailed configuration of the hand cart mode control system according to the second embodiment of the present invention.
As shown in FIG. 12, the hand cart mode control system 32A has a current command value for controlling the rotation of the motor 21B that rotates the driving wheel 21 as a rotating object, and a current value of the inverter 21B1 that drives the motor 21B. On the basis of the detected current value, a current control system 321 for inputting a voltage value for controlling the rotation of the motor 21B to the inverter 21B1, a speed command value for controlling the rotational speed of the motor 21B, and the motor 21B And a speed control system 322A that outputs a current command value for controlling the rotation of the motor 21B based on the rotational speed.
The inverter 21B1 includes a sensor (not shown) that detects the current value of the inverter 21B1. Further, the drive wheel 21 is connected to the motor 21B via a speed reducer (not shown).

  Here, the inverter 21B1, the current control system 321 and the speed control system 322A function as a motor control system for controlling the rotation of the motor 21B, and these are packaged (see the two-dot chain line in the figure). The speed control system 322A is a current command value for controlling the rotation of the motor 21B based on the speed command value input from the outside to control the rotation speed of the motor 21B and the rotation speed of the motor 21B. Is output. Thus, in this embodiment, the current command value cannot be changed directly.

The hand cart mode control system 32A generates a speed command value based on the command value (speed command value) output from the hand cart mode operation system 35, the rotation speed of the motor 21B, and the weighting factor. By outputting to the speed control system 322A, a speed command value changing unit 325 for changing the current command value for controlling the rotation of the motor 21B by the speed control system 322A and a weighting coefficient for the speed command value changing unit 325 are set. And a weighting coefficient setting unit 326 for performing the above.
The weighting factor setting unit 326 sets the weighting factor of the speed command value changing unit 325 in the range from 0 to 1.

  As described above, the hand cart mode control system 32A drives the motor 21B to rotate the pair of left and right drive wheels 21 based on the command value (speed command value) output from the hand cart mode operation system 35. Thus, the movement of the main body 2 transformed into the hand cart mode is controlled. Here, the hand cart mode operation system 35 tilts the joystick 25A so that it becomes about 4 km / h when the joystick 25A is tilted to the maximum, and 0 km / h when the joystick 25A is not tilted (neutral). The speed command value is output according to the amount.

When the speed command value is output from the hand cart mode operation system 35, the speed command value changing unit 325 outputs the speed command value, the rotation speed of the motor 21B, and the weighting factor set by the weighting factor setting unit 326. Based on the above, a speed command value is generated and output to the speed control system 322A.
When the speed command value is output from the speed command value changing unit 325, the speed control system 322A controls a current command value for controlling the rotation of the motor 21B based on the speed command value and the rotation speed of the motor 21B. Is output.

  Here, the speed command value changing unit 325 is set by the command value (speed command value) output from the handcart mode operation system 35, the rotation speed of the motor 21B, and the weighting factor setting unit 326, as described above. Based on the weighting factor, a speed command value is generated and output to the speed control system 322A, thereby changing the current command value for controlling the rotation of the motor 21B in the speed control system 322A.

Specifically, for example, if the speed command value changing unit 325 adopts a P (proportional) control speed control system 322A, the speed command value is set to Vref, the rotation speed of the motor 21B is set to V, and the weighting coefficient Is changed to a current command value for controlling the rotation of the motor 21B in the speed control system 322A by calculating the speed command value Vc after the change by the following equation (1).
Vc = V + η (Vref−v) (1)

  For example, when the speed command value changing unit 325 adopts a speed control system 322A of P (proportional) I (integral) control, the integral gain is set to 0 and the speed after change according to the above-described equation (1). By calculating the command value Vc, the current command value for controlling the rotation of the motor 21B in the speed control system 322A is changed.

Here, the weighting factor setting unit 326 sets the weighting factor η of the speed command value changing unit 325 to 1 when the joystick 25A is tilted, and the speed command value changing unit when the joystick 25A is not tilted (neutral). The weighting factor η of 325 is set to 0. Then, the weighting factor setting unit 326 gradually increases with the passage of time when the weighting factor η of the speed command value changing unit 325 is increased.
Therefore, the hand cart mode control system 32A can rotate the motor 21B in accordance with the amount by which the joystick 25A is tilted when the joystick 25A is tilted, and the boarding mode when the joystick 25A is not tilted (neutral). Unlike the control system 31, the motor 21B can be idled.

Thus, the speed command value changing unit 325 may be designed according to the configuration of the speed control system 322A. By generating the speed command value and outputting the speed command value to the speed control system 322A, the speed control system 322A It is sufficient if the current command value for controlling the rotation of 21B can be changed.
Note that the speed command value changing unit 325 sets the weighting factor to 1 and rotates the driving wheel 21 and sets the weighting factor to 0 when V = 0 regardless of the configuration of the speed control system 322A. The state in which the driving wheel 21 is idled by setting and the state of the half-clutch in which the weighting factor is set larger than 0 and smaller than 1 can be safely changed without causing an excessive rotational change of the driving wheel 21.

Therefore, in this embodiment, the hand cart mode operation system 35 functions as a rotation target value generation unit that generates a speed target value (speed command value) that is a target of the speed at which the motor 21B is rotated.
In the present embodiment, the speed command value changing unit 325 includes the speed command value generated by the handcart mode operation system 35, the rotation speed of the motor 21B, and the weighting factor set by the weighting factor setting unit 326. Based on the above, a speed command value is generated and output to the speed control system 322A, whereby the current command value for controlling the rotation of the motor 21B by the speed control system 322A is changed as a rotation command value. Functions as a change unit.

When the current command value is output from the speed control system 322A, the current control system 321 controls the rotation of the motor 21B based on the current command value and the current detection value obtained by detecting the current value of the inverter 21B1. The value is input to the inverter 21B1.
The motor 21B rotates the drive wheel 21 based on the voltage value input from the inverter 21B1.

Also in this embodiment, in addition to the same operations and effects as (1) to (7) in the first embodiment, the following operations and effects can be achieved.
(12) The speed command value changing unit 325 is based on the speed command value generated by the handcart mode operation system 35, the rotation speed of the motor 21B, and the weighting factor set by the weighting factor setting unit 326. By generating the speed command value and outputting it to the speed control system 322A, the current command value for controlling the rotation of the motor 21B by the speed control system 322A can be indirectly changed. Therefore, even when using a packaged motor control system in which the current command value cannot be changed directly, the land mobile unit 1 diversifies the relationship between the rotation target value and the motor 21B. As a result, the method of using the motor 21B can also be diversified.

(13) When the weighting coefficient of the speed command value changing unit 325 is set to 1, the motor 21B can be rotated according to the rotation target value, and the weighting coefficient of the speed command value changing unit 325 is set to 0 In this case, the motor 21B can be idled. When the weight coefficient of the speed command value changing unit 325 is set larger than 0 and smaller than 1, the motor 21B can be rotated according to a value smaller than the rotation target value.

(14) The land vehicle 1 rotates the driving wheel 21 by setting the weight coefficient of the speed command value changing unit 325 to 1 without connecting a mechanical clutch between the motor 21B and the driving wheel 21. A state in which the weighting coefficient of the speed command value changing unit 325 is set to 0 and the drive wheel 21 is idled, and the state of the half clutch in which the weighting coefficient of the speed command value changing unit 325 is set to be larger than 0 and smaller than 1. Can be switched. Therefore, the land mobile 1 can be configured to be lighter than when a mechanical clutch is connected.
(15) The land mobile unit 1 sets the weighting coefficient of the speed command value changing unit 325 from the state in which the motor 21B is idled by setting the weighting coefficient of the speed command value changing unit 325 to 0 regardless of the rotation state of the motor. Since the motor 21B can be gradually rotated with the passage of time when the motor 21B is set to be larger than 0 and rotated, the land mobile unit 1 can be driven without causing excessive rotation change of the motor. Safety can be improved.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.
For example, in each of the above-described embodiments, the land mobile body 1 has a first use purpose of traveling with the user on the main body 2, and the first use form corresponding to the first use purpose is as follows. A boarding mode and a handcart mode as a second mode of use according to the second usage purpose, in which the user puts the luggage P on the main body 2 and travels with his / her hand. Had. On the other hand, the land mobile body is intended to travel by putting the user on the main body and the user kicks the ground, and may have a usage form according to the purpose of use, It may be intended to travel when the user pulls the main body, and may have a usage form corresponding to the purpose of use. In short, the main body is configured by reversibly transforming the first usage pattern according to the first usage purpose and the first usage pattern, and a second usage purpose different from the first usage purpose. It is only necessary to have a second usage pattern corresponding to the above.

In each of the above embodiments, the maximum speed of the hand cart mode control system 32 is set to be smaller than the maximum speed of the boarding mode control system 31, but it may not be set in this way. In short, it is only necessary that the first control system can control the movement of the main body transformed into the first usage pattern, and the second control system controls the movement of the main body transformed into the second usage pattern. If you can.
In each of the above-described embodiments, the boarding mode operation system 34 is operated in accordance with the operation input received by the joystick 25A to move the main body 2 transformed into the boarding mode, and the hand cart mode operation system 35 is transformed into the hand cart mode. Although the operation of the main body 2 is performed according to the reversal operation input obtained by reversing the left and right of the operation input received by the joystick 25A, the operation may not be performed according to the reversal operation input. In short, the first operation system only needs to be able to operate the main body transformed into the first usage pattern according to the operation input received by the operation means, and the second operation system is the second use system. The movement of the main body transformed into the form may be operated according to the operation input received by the operation means.

  In each of the above-described embodiments, the control system switching unit 33 and the operation system switching unit 36 use the distance sensor 23A provided in the main body 2 to execute detection of an obstacle, so that a new switch or the like is added to the main body 2. However, the operation mode of the control unit 3 may be switched by providing a new switch or the like in the main body 2.

  In each of the above embodiments, the control system switching unit 33 and the operation system switching unit 36 execute switching of the operation mode of the control unit 3 based on the distance to the object detected by the distance sensor 23A. For example, the operation mode of the control unit 3 may be switched based on the direction and size of the object detected by the distance sensor 23A.

FIG. 13 is a diagram illustrating a detection range of the distance sensor when the operation mode of the control unit is switched based on the direction of the object detected by the distance sensor.
As shown in FIG. 13, the distance sensor 23A described above can detect an object existing in a detection range AR of about 270 degrees with the + X-axis direction as the center. Specifically, the distance sensor 23A can detect the direction in which the object exists and the distance to the object.
Here, the boarding mode control system 31 uses the detection range ARF that detects the object on the + X-axis direction side in the detection range AR of the distance sensor 23A, so that the obstacle present on the + X-axis direction side of the main body 2 is present. Execute the process to detect.

  Then, the control system switching unit 33 and the operation system switching unit 36 use the detection range ARR that detects the object on the −Y axis direction side in the detection range AR of the distance sensor 23A, so that the operation mode of the control unit 3 is performed. Is switched to the boarding mode control system 31 and the boarding mode operation system 34, and among the detection ranges AR of the distance sensor 23A, the detection mode ARL for detecting the object on the + Y-axis direction side is used, whereby the operation mode of the control means 3 is changed. Switching to the hand cart mode control system 32 and the hand cart mode operation system 35 is performed.

  Specifically, the control system switching unit 33 and the operation system switching unit 36 indicate that the time during which the object is detected in the detection range ARR of the distance sensor 23A is longer than a predetermined time (for example, 3 seconds). As an opportunity, the operation mode of the control means 3 is switched to the boarding mode control system 31 and the boarding mode operation system 34, and the time during which the object is detected in the detection range ARL of the distance sensor 23A is a predetermined time (for example, 3 seconds). The operation mode of the control means 3 is switched to the hand cart mode control system 32 and the hand cart mode operation system 35 with the longer period as a trigger.

According to this, after the user transforms the land mobile body 1 into the hand cart mode by rotating the handle frame 25B and fixing the handle 25 to the base frame 23 at a position where the handle 25 is lowered, the distance sensor It is possible to switch to the hand cart mode control system 32 and the hand cart mode operation system 35 by holding the hand over the detection range ARL of 23A.
In addition, the user rotates the handle frame 25B and fixes the handle 25 to the base frame 23 at a position where the handle 25 is raised, thereby transforming the land mobile body 1 into the boarding mode, and then the second sensor 23A of the distance sensor 23A. It is possible to switch to the boarding mode control system 31 and the boarding mode operation system 34 by holding the hand over the detection range ARR.

The control system switching unit 33 and the operation system switching unit 36 do not rely on the user holding his / her hand over the distance sensor 23A, but by determining the usage mode (boarding mode or handcart mode) of the main body 2. The operation mode of the control means 3 may be automatically switched.
For example, the control system switching unit 33 and the operation system switching unit 36 include a mode determination unit that determines the usage mode of the main body 2. By using this mode determination unit, the operation mode of the control unit 3 is automatically switched. May be executed.

  Specifically, the control system switching unit 33 and the operation system switching unit 36 are deformed to the handcart mode by, for example, fixing the handle frame 25B to the base frame 23 at a position where the handle 25 is lowered. In this case, a baffle plate that is close to the detection range ARL (or detection range ARR) of the distance sensor 23A shown in FIG. 13 and is detected as an object by the distance sensor 23A can be adopted as the mode determination means. The baffle plate is fixed to the base frame 23 at a position where the handle frame 25B is rotated and the handle 25 is raised (when transformed into the boarding mode), thereby detecting the detection range ARL (or the detection range ARR) of the distance sensor 23A. ) And is not detected as an object by the distance sensor 23A. The baffle plate is provided on the handle frame 25B.

The control system switching unit 33 and the operation system switching unit 36, when detecting the baffle plate in the detection range ARL (or the detection range ARR) of the distance sensor 23A, the hand cart mode control system 32 and the hand cart mode operation system 35. When the baffle plate is not detected in the detection range ARL (or detection range ARR) of the distance sensor 23A, the boarding mode control system 31 and the boarding mode operation system 34 are switched.
According to this, the control system switching unit 33 and the operation system switching unit 36 determine the usage mode (boarding mode or handcart mode) of the main body 2 without relying on the user holding his / her hand over the distance sensor 23A. By doing so, the operation mode of the control means 3 can be automatically switched.

In each of the embodiments, the weighting factor setting units 324 and 326 set the weighting factor of the rotation command value changing unit in the range from 0 to 1, but the weighting factor may be set in a range other than this. . In short, the weighting factor setting unit may set the weighting factor of the rotation command value changing unit.
In each of the above embodiments, the weighting factor setting units 324 and 326 increase gradually with the passage of time when increasing the weighting factor of the rotation command value changing unit, but do not increase it gradually. Also good. Further, when the weighting coefficient setting unit decreases the weighting coefficient of the rotation command value changing unit, the weighting coefficient setting unit may decrease the weighting coefficient gradually as time elapses.

  In each of the above embodiments, the rotation command value for controlling the rotation of the motor 21B in the motor control system is a current command value, but may be a voltage command value. In short, the rotation command value may be a value for controlling the rotation of the motor by the motor control system. In other words, the rotation command value may be different depending on the configuration of the motor control system.

FIG. 14 is a diagram illustrating an example in which the rotation command value for controlling the rotation of the motor in the motor control system is a voltage command value.
As shown in FIG. 14, the hand cart mode control system 32B multiplies the voltage command value (rotation target value) generated by the hand cart mode operation system 35 as the rotation target value generation unit by applying a weighting factor, and outputs it. Thus, the voltage command value changing unit 327 for changing the voltage command value for controlling the rotation of the motor 21B that rotates the driving wheel 21 as the rotation target as the rotation command value, and the weighting coefficient of the voltage command value changing unit 327 are set. A weight coefficient setting unit 328 for setting.
The weighting factor setting unit 328 sets the weighting factor of the voltage command value changing unit 327 in the range from 0 to 1.
The motor 21B includes an inverter (not shown) that drives the motor 21B, a sensor (not shown) that detects a current value of the motor 21B, and the like. Further, the drive wheel 21 is connected to the motor 21B via a speed reducer (not shown).

  According to this, the voltage command value changing unit 327 outputs the voltage command value generated by the hand cart mode operation system 35 by applying the weighting coefficient to the voltage command value for controlling the rotation of the motor 21B. Therefore, the land mobile 1 can diversify the relationship between the rotation target value and the motor 21B, and thus the method of using the motor 21B can be diversified.

  As described above, the present invention can be suitably used for a motor control device including a motor that rotates a rotating object and a motor control system that controls the rotation of the motor.

1 Land mobile body (motor control device)
2 Main body 3 Control means 21 Drive wheel (object to be rotated)
21A frame 21B motor 21B1 inverter 22 auxiliary wheel 22A frame 23 base frame (information processing device)
23A Distance sensor 24 Mounting portion 25 Handle 25A Joystick (operating means)
25B Handle frame 31 Boarding mode control system (first control system and standard function execution unit)
32, 32A, 32B Wheelbarrow mode control system (second control system)
33 Control system switching part (special function execution part)
34 Boarding mode operation system (first operation system)
35 Wheelbarrow mode operation system (second operation system)
36 Operation system switching unit (special function execution unit)
311, 321 Current control system 312, 322, 322 A Speed control system 323 Current command value change unit (rotation command value change unit)
324, 326 Weight coefficient setting unit 325 Speed command value change unit (rotation command value change unit)

Claims (7)

A motor control device comprising: a motor that rotates an object to be rotated; and a motor control system that controls rotation of the motor,
A rotation target value generation unit that generates a rotation target value that is a target for rotating the motor;
Rotation command value change for changing the rotation command value for controlling the rotation of the motor by the motor control system by outputting the rotation target value generated by the rotation target value generation unit by applying a weighting coefficient. And
A weighting factor setting unit for setting a weighting factor of the rotation command value changing unit ,
The weighting factor setting unit arbitrarily sets a weighting factor of the rotation command value changing unit based on information external to the motor control system, and the weighting factor setting unit sets a weighting factor of the rotation command value changing unit. by setting to a predetermined value, the motor is a motor controller, characterized that you idling regardless the rotation target value. A motor control device comprising: a motor that rotates an object to be rotated; and a motor control system that controls rotation of the motor,
A rotation target value generation unit that generates a rotation target value that is a target for rotating the motor;
Rotation command value change for changing the rotation command value for controlling the rotation of the motor by the motor control system by outputting the rotation target value generated by the rotation target value generation unit by applying a weighting coefficient. And
A weighting factor setting unit for setting a weighting factor of the rotation command value changing unit ;
Operating means for receiving an operation input for operating the motor control device ,
The weighting factor setting unit arbitrarily sets the weighting factor of the rotation command value changing unit based on the operation input received by the operating unit, and the weighting factor setting unit sets the weighting of the rotation command value changing unit. by setting the coefficient to a predetermined value, the motor is a motor controller, characterized that you idling regardless the rotation target value. A motor control device comprising: a motor that rotates an object to be rotated; and a motor control system that controls rotation of the motor,
A first control system according to a first purpose of use;
A second control system according to a second use purpose different from the first use purpose;
A control system switching unit that switches between the first control system and the second control system;
The first control system includes:
A rotation target value generating unit that generates a rotation target value that is a target for rotating the motor ;
The second control system includes:
A rotation target value generation unit that generates a rotation target value that is a target for rotating the motor;
Rotation command value change for changing the rotation command value for controlling the rotation of the motor by the motor control system by outputting the rotation target value generated by the rotation target value generation unit by applying a weighting coefficient. And
A weighting factor setting unit for arbitrarily setting a weighting factor of the rotation command value changing unit ,
The motor control apparatus according to claim 1, wherein the first control system does not include the rotation command value changing unit and the weighting factor setting unit . In the motor control device according to any one of claims 1 to 3,
The motor control apparatus, wherein the weighting factor setting unit sets the weighting factor of the rotation command value changing unit in a range from 0 to 1. In the motor control device according to any one of claims 1 to 4,
When the weighting coefficient setting unit increases the weighting coefficient of the rotation command value changing unit, the weighting coefficient setting unit gradually increases with the passage of time. In the motor control device according to any one of claims 1 to 5,
The rotation target value generation unit generates a current target value that is a target of current for rotating the motor as a rotation target value,
The motor control system is
A current control system for inputting a voltage value for controlling the rotation of the motor to the motor based on a current command value for controlling the rotation of the motor and a current detection value for detecting the current value of the motor;
The rotation command value changing unit outputs a current command value for controlling the rotation of the motor in the current control system by outputting the current target value generated by the rotation target value generating unit by applying a weighting coefficient. A control device for a motor, wherein the value is changed as a rotation command value. In the motor control device according to any one of claims 1 to 5,
The rotation target value generation unit generates a speed target value that is a target of a speed for rotating the motor as a rotation target value,
The motor control system is
A speed control system that outputs a current command value for controlling the rotation of the motor based on a speed command value input from the outside to control the rotation speed of the motor and the rotation speed of the motor;
A current control system that inputs a voltage value for controlling rotation of the motor to the motor based on a current command value output from the speed control system and a current detection value obtained by detecting the current value of the motor;
The rotation command value changing unit is configured to determine the speed based on the speed target value generated by the rotation target value generating unit, the rotation speed of the motor, and the weighting factor set by the weighting factor setting unit. A motor control device, wherein a current command value for controlling rotation of the motor in the speed control system is changed as a rotation command value by generating a command value and outputting the command value to the speed control system .

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