Abstract: An object of the present invention is to provide a steering control device capable of reducing a steering amount while securing operability of a driver according to a traveling condition. A steering control device 61 forming a steer-by-wire system, which has no physical connection between a steering shaft by a driver and an actual steered angle of a vehicle wheel, the steering control device including an actual steered angle calculation unit 74 that determines the actual steered angle based on a steering angle and a steering torque generated on the steering shaft.

Abstract: The present invention provides a vehicle motion control device capable of reducing vibration generated in a running vehicle and suppressing the occurrence of an unstable behavior of the vehicle. A vehicle motion control device that controls a motion of a vehicle includes an operation management unit that generates traveling status information of the vehicle, a traveling track generation unit that generates a traveling track of the vehicle based on the traveling status information, and a travel control unit that controls driving, braking, and steering of the vehicle based on the traveling track. The traveling track generation unit includes a course planning unit that generates a target course based on the traveling status information and a speed planning unit that plans a target speed by calculating a longitudinal acceleration and a lateral acceleration whose composite acceleration has one peak when the vehicle travels on each curve in the target course.

Abstract: A vehicle movement control device generates a target motion vector that falls within a desired controllable range in a motion space, and integrally controls a plurality of actuators to realize a vehicle movement defined by the target motion vector, thereby improving ride comfort and operation feeling. The vehicle movement control device that controls the plurality of actuators in accordance with a travel state, the vehicle movement control device including: a vehicle movement planning unit configured to generate a target motion vector based on input travel state information; an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and an actuator control unit configured to control each actuator based on the operation amount, in which the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space acquired from the operation amount arbitration unit.

Abstract: A vehicle integrated-control device generates internal commands that supplement insufficient external commands in an environment where external commands are insufficient and that integrally controls each actuator to improve the operational feeling of the driver and occupant ride comfort.

Abstract: A motion control device independently drives left and right wheels by calculating a wheel torque value from a difference between a reference vehicle state quantity or an operation instruction of a higher driving device and an actual vehicle state quantity regarding a motion and a posture of the vehicle, and controlling a plurality of motors based on the wheel torque value. The motion control device calculates a momentum error from a difference between a reference momentum based on wheel speed and a tire steering angle and an actual momentum based on the the motion and the posture of the vehicle, extracts a momentum error, calculates a wheel torque correction amount based on the extracted momentum error caused by the torque difference of the motor, adds the wheel torque correction amount to the wheel torque value, and outputs a wheel torque command to the plurality of motors.

Abstract: An object of the present invention is to provide a vehicle motion control device that generates a travel path capable of realizing comfortable ride comfort and high safety with a small physical quantity related to a vehicle behavior such as a longitudinal acceleration, a lateral acceleration, and a vertical acceleration generated when a vehicle passes or avoids with respect to a predetermined region such as unevenness on a course of a vehicle.

Abstract: A vehicle motion control device generates a travel route where behavior of a vehicle traveling on a curve is small and comfortable ride is achieved even when the vehicle travels on a continuous curve. The control device includes a travel track generation unit that generates, based on information on a curvature of a first curve on a lane existing in a traveling direction of a vehicle and a curvature of a second curve connected to the first curve, a travel route by setting curvature of the travel route at a time of traveling on a curve having a smaller curvature between the first and second curves to be larger than the curvature of the curve and setting a curvature of the travel route at a time of traveling on a curve having a larger curvature between the first and second curves to be smaller than the curvature of the curve.

Abstract: A robot 100 includes a base 1 having side portions, an arm 3 rotatably coupled to the base 1, and a hand 8 coupled to the arm 3. A joint between the arm 3 and the base 1 is closest to a first side portion 11a in a plan view. The base 1 houses control components. A second side portion 11b is provided with a maintenance area 12 on which a maintenance component such as a first board 24 is disposed. The maintenance area 12 is used for maintenance of the maintenance component.

Abstract: A robot 100 includes: a base 1; an arm 3 coupled to the base 1 to be rotatable horizontally and formed by links 30 coupled to one another to be rotatable horizontally; and a hand 8 coupled to the arm 3 to be rotatable horizontally. A first link 31 that is at least one link of the links 30 has an internal space 40. The first link 31 has a partition 45 that partitions the internal space 40 into two container rooms each for housing a component, that is, a first container room 40A and a second container room 40B.

Abstract: Provided is a plasticizer which can impart excellent heat resistance to a molded article of a vinyl chloride resin composition. Specifically, provided is a plasticizer for vinyl chloride resin, wherein the plasticizer is a polyester represented by the following formula (1) or (2), wherein, in the formulae (1) and (2), B11 represents an aliphatic monocarboxylic acid residue having 7 to 20 carbon atoms, B12 represents an aliphatic monocarboxylic acid residue having 7 to 20 carbon atoms, B21 represents an aliphatic monoalcohol residue having 6 to 10 carbon atoms, B22 represents an aliphatic monoalcohol residue having 6 to 10 carbon atoms, G represents an alkylene glycol residue having 3 to 10 carbon atoms or an oxyalkylene glycol residue having 3 to 10 carbon atoms, A represents an alkylenedicarboxylic acid residue having 6 to 12 carbon atoms, and each of m and n represents the number of repeating units in parentheses.

Abstract: An object of the present invention is to effectively reduce vibration or noise caused by a motor. An inverter circuit 300 generates an alternating current from a direct current supplied from a direct current power supply 10 by using a plurality of IGBTs 311 which are switching elements, supplies the generated alternating current to a motor 100, and drives the motor 100. This alternating current includes a fundamental harmonic current corresponding to a rotational speed of the motor 100, and a harmonic current of a switching operation of the IGBTs 311. A controller 200 controls a second phase such that a first phase and the second phase are not superimposed on each other at a predetermined motor rotational speed, the first phase being a phase of an excitation force cyclically produced in the motor 100 by the fundamental harmonic current, and the second phase being a phase of an excitation force cyclically produced in the motor 100 by the harmonic current.

Abstract: An object of the present invention is to provide a steering control device capable of reducing a steering amount while securing operability of a driver according to a traveling condition. A steering control device 61 forming a steer-by-wire system, which has no physical connection between a steering shaft by a driver and an actual steered angle of a vehicle wheel, the steering control device including an actual steered angle calculation unit 74 that determines the actual steered angle based on a steering angle and a steering torque generated on the steering shaft.

Abstract: The invention is directed to modeling of heat and vibration for structures. Therefore, with a traditional model division for each component, one-to-one correspondence between the models and the components is not necessarily realized. There has been a problem in that it is difficult to divide the models. To solve the above problem, a simulation program according to the present invention includes a first model for calculating a first vehicle characteristics parameter, a second model for calculating a second vehicle characteristics parameter to transfer energy without converting the energy, and an interface model for performing conversion calculation of the first vehicle characteristics parameter and the second vehicle characteristics parameter.

Abstract: Provided is a steering device which allows continued safe travel in the event of a fault during automatic steering control. The steering device is equipped with an electric drive device composed of a plurality of systems of electric motors and has an assist control function for assisting a driver in steering and an automatic steering control function for automatically controlling the steering angle of steered wheels on the basis of a steering angle instruction value.

Abstract: An object of the present invention is to effectively reduce vibration or noise caused by a motor. An inverter circuit 300 generates an alternating current from a direct current supplied from a direct current power supply 10 by using a plurality of IGBTs 311 which are switching elements, supplies the generated alternating current to a motor 100, and drives the motor 100. This alternating current includes a fundamental harmonic current corresponding to a rotational speed of the motor 100, and a harmonic current of a switching operation of the IGBTs 311. A controller 200 controls a second phase such that a first phase and the second phase are not superimposed on each other at a predetermined motor rotational speed, the first phase being a phase of an excitation force cyclically produced in the motor 100 by the fundamental harmonic current, and the second phase being a phase of an excitation force cyclically produced in the motor 100 by the harmonic current.

Abstract: The invention is directed to modeling of heat and vibration for structures. Therefore, with a traditional model division for each component, one-to-one correspondence between the models and the components is not necessarily realized. There has been a problem in that it is difficult to divide the models. To solve the above problem, a simulation program according to the present invention includes a first model for calculating a first vehicle characteristics parameter, a second model for calculating a second vehicle characteristics parameter to transfer energy without converting the energy, and an interface model for performing conversion calculation of the first vehicle characteristics parameter and the second vehicle characteristics parameter.

Abstract: Provided is a steering device which allows continued safe travel in the event of a fault during automatic steering control. The steering device is equipped with an electric drive device composed of a plurality of systems of electric motors and has an assist control function for assisting a driver in steering and an automatic steering control function for automatically controlling the steering angle of steered wheels on the basis of a steering angle instruction value.

Abstract: Provided is a method and apparatus capable of rapidly releasing an automatic steering mode and switching to a manual steering mode in which steering is performed by a driver when there is a steering input from a driver in a steering wheel, so that it is possible to prevent disturbance in a behavior of a vehicle caused by an excessive manipulation of the driver who memorizes strangeness. In the vehicle steering apparatus, a state that a driver holds the input unit of the steering input means is detected on the basis of a characteristic change caused by an increase of a mass or inertial moment in the input unit of the steering input means or a part subordinate thereto. In addition, a switching operation between the automatic steering mode and the manual steering mode is performed on the basis of a result of the holding detection.

Abstract: An oil-flooded screw compressor drives a pair of rotors at a rotational speed which is low enough not to increase torque for a short amount of time after start-up and accelerates the pair of rotors up to a normal-operation rotational speed after oil discharge. Alternatively, the oil-flooded screw compressor rotates the pair of rotors for a short amount of time after the remaining compressed gas is discharged after a halt, thereby allowing the oil accumulated inside the working chambers to be discharged and ensuring smooth start-up after the halt.

Abstract: An oil-flooded screw compressor drives a pair of rotors at a rotational speed which is low enough not to increase torque for a short amount of time after start-up and accelerates the pair of rotors up to a normal-operation rotational speed after oil discharge. Alternatively, the oil-flooded screw compressor rotates the pair of rotors for a short amount of time after the remaining compressed gas is discharged after a halt, thereby allowing the oil accumulated inside the working chambers to be discharged and ensuring smooth start-up after the halt.