Abstract: A meander control is performed by using: a guide roller that alters the conveying direction of a aluminum sheet conveyed along a conveying path; a first edge sensor that detects the amount of meandering at a first detection position that is upstream of the guide roller; a second edge sensor that detects the amount of meandering at a second detection position between the first edge sensor and the guide roller; and a control device that calculates an error contained in a first gain of a first feedforward model on the basis of a detected value from the first edge sensor and a detected value from the second edge sensor, and corrects a second gain of a second feedforward model by the calculated error, and then calculates a guide position-estimated amount of meandering on the basis of the second feedforward model and the detected value from the second edge sensor.

Abstract: To provide a moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. A moving body according to the present invention is a moving body including: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: means for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; means for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and means for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.

Abstract: The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis.

Abstract: Control method of a traveling dolly, having wheels 2 and 3 driven by motors 4 and 5 which are drive means, a body 1 supported by the wheels 2 and 3, and a control computer 10 as a control means commanding control command value to the motors 4 and 5, a centroid of the body 1 positioning above a rotation axis of the wheels 2 and 3, is characterized in that: the control computer 10 estimates external force moment, which is moment of inertia around the rotation axis of the wheels 2 and 3 generated by external force applied on the body 1; tilt angle of the body 1, which makes gravity moment around the rotation axis of the centroid of the body 1 balances with the external force moment, is set as target body tilt angle; and based on the target body tilt angle, torque command value for the motors 4 and 5 is calculated.

Abstract: A running machine that can prevent overturning of a body in the case of occurrence of an abnormality is provided. The running machine substantially supports the body with coaxially arranged drive wheels, and can drive while maintaining the balance of the body. A control module of the machine comprises a stabilization controller that computes a first torque command for maintaining the balance of the body and a travel controller that computes a second torque command for driving the running machine. A sum of the first torque command and the second torque command is inputted into the motors. When an abnormal condition detector detects occurrence of an abnormal condition, a safe mode controller prohibits the travel controller from outputting the second torque command. This could enable all torque that the motors can output to be used to maintain the balance of the body when occurrence of an abnormal condition is detected.

Abstract: A running object includes a body, at least two drive wheels disposed on a first axel, and at least one driven wheel disposed on a second axel. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.

Abstract: A running machine that can prevent overturning of a body in the case of occurrence of an abnormality is provided. The running machine substantially supports the body with coaxially arranged drive wheels, and can drive while maintaining the balance of the body. A control module of the machine comprises a stabilization controller that computes a first torque command for maintaining the balance of the body and a travel controller that computes a second torque command for driving the running machine. A sum of the first torque command and the second torque command is inputted into the motors. When an abnormal condition detector detects occurrence of an abnormal condition, a safe mode controller prohibits the travel controller from outputting the second torque command. This could enable all torque that the motors can output to be used to maintain the balance of the body when occurrence of an abnormal condition is detected.

Abstract: In an electromagnetically driven valve control system, it is determined whether an electromagnetically driven valve is in an attraction period at which a valve body is displaced. When it is determined that the electromagnetically driven valve is in the attraction period, it is further determined whether the period is in a first attraction period at which the valve body is close to a neutral position. When it is determined that the valve body is in the first attraction period, the upper control frequency or the lower control frequency is set to the value indicating the low frequency. When it is determined that the valve body is in the second attraction period at which the valve body is close to either the full-open position or the full-close position, the upper control frequency or the lower control frequency is set to the value indicating the high frequency.

Abstract: A control apparatus for an electromagnetically driven valve is provided which is applied to an electromagnetically driven valve in which a movable portion including an armature and a valve element is driven using an electromagnetic force generated by an electromagnet. This control apparatus includes a controller. This controller performs feedback control such that a value of a current which is actually supplied to the electromagnet becomes substantially equal to a value of a desired attracting current when displacing the movable portion by supplying an attracting current to the electromagnet. Further, the controller variably sets a feedback gain used in feedback control of the attracting current, based on a distance between the electromagnet and the armature.

Abstract: A control apparatus of electromagnetic valve includes a valve body functioning as an intake valve or an exhaust valve of an internal combustion engine and an electromagnet for affecting an electromagnetic force relative to an armature provided on the valve body for actuating the valve body. A controler determines a target value regarding a force affecting the valve body when displacing the valve body from one displacement end to the other displacement end or a state quantity of the valve body varied in accordance with the force and controls the electromagnetic force of the electromagnet for attracting the armature to the one displacement side based on a deviation between the force or the state quantity and the target value so that the force or the state quantity conforms to the determined target value when displacing the valve body from the one displacement end to the other displacement end.

Abstract: An electromagnetically driven valve control apparatus and method are provided for an electromagnetically driven valve which has a movable element that is driven by cooperation of a spring force and an electromagnetic force, and a valve body engageable with the movable element, and which causes an open-close motion of the valve body due to the movable element engaging with the valve body in accordance with the driving of the movable element. Positional information regarding the movable element is detected, and adjustment of an electromagnetic force for driving the movable element is performed so that the movable element reaches a target operation state based on the positional information detected and a model of the electromagnetically driven valve obtained as a spring-mass vibration system.

Abstract: A main CPU determines whether or not there is a request for one valve driving based on an engine operating state such as an engine speed and a load factor, with reference to a control map. When it is determined that there is a request for one valve driving, it is determined whether or not there is an overlapping period between opening periods. When it is determined that there is no overlapping period, a high speed control is performed for controlling electromagnetically driven valves. When it is determined that there is no request for one valve driving, or when it is determined that there is the overlapping period, a low speed control is performed for controlling electromagnetically driven valves.

Abstract: A valve of an internal combustion engine includes a valve body movable between a fully opened position and a fully closed position, an armature coupled to the valve body, a pair of springs urging the valve body, and a pair of electromagnets. Each electromagnet generates electromagnetic force to attract the armature, thereby moving the valve body. The engine valve is controlled by means of sliding mode. That is, when the valve body is moved from the fully closed position to the fully opened position, the electromagnets are controlled such that the state quantity of the valve body (the position and the moving speed) converges on a previously set switching hyperplane. The switching hyperplane is changed in accordance with the position of the valve body. As a result, a number of factors required for controlling the engine valve are satisfied.

Abstract: In an electromagnetically driven valve control system, it is determined whether an electromagnetically driven valve is in an attraction period at which a valve body is displaced. When it is determined that the electromagnetically driven valve is in the attraction period, it is further determined whether the period is in a first attraction period at which the valve body is close to a neutral position. When it is determined that the valve body is in the first attraction period, the upper control frequency or the lower control frequency is set to the value indicating the low frequency. When it is determined that the valve body is in the second attraction period at which the valve body is close to either the full-open position or the full-close position, the upper control frequency or the lower control frequency is set to the value indicating the high frequency.

Abstract: A main CPU determines whether or not there is a request for one valve driving based on an engine operating state such as an engine speed and a load factor, with reference to a control map. When it is determined that there is a request for one valve driving, it is determined whether or not there is an overlapping period between opening periods. When it is determined that there is no overlapping period, a high speed control is performed for controlling electromagnetically driven valves. When it is determined that there is no request for one valve driving, or when it is determined that there is the overlapping period, a low speed control is performed for controlling electromagnetically driven valves.

Abstract: A control apparatus for an electromagnetically driven valve is provided which is applied to an electromagnetically driven valve in which a movable portion including an armature and a valve element is driven using an electromagnetic force generated by an electromagnet. This control apparatus includes a controller. This controller performs feedback control such that a value of a current which is actually supplied to the electromagnet becomes substantially equal to a value of a desired attracting current when displacing the movable portion by supplying an attracting current to the electromagnet. Further, the controller variably sets a feedback gain used in feedback control of the attracting current, based on a distance between the electromagnet and the armature.

Abstract: An electromagnetically driven valve control apparatus and method are provided for an electromagnetically driven valve which has a movable element that is driven by cooperation of a spring force and an electromagnetic force, and a valve body engageable with the movable element, and which causes an open-close motion of the valve body due to the movable element engaging with the valve body in accordance with the driving of the movable element. Positional information regarding the movable element is detected, and adjustment of an electromagnetic force for driving the movable element is performed so that the movable element reaches a target operation state based on the positional information detected and a model of the electromagnetically driven valve obtained as a spring-mass vibration system.

Abstract: A drive control apparatus and a control method are provided for controlling driving of an engine valve of an internal combustion engine, utilizing an electromagnetic force generated by an electromagnet or electromagnets. A magnitude of an external force applied to the engine valve is estimated, and a target operating state of the engine valve is set in view of the estimated magnitude of the external force. Then, a current applied to the electromagnet(s) is controlled in accordance with an actual operating state and the target operating state of the engine valve, so that the actual operating state substantially coincides with the target operating state.

Abstract: A valve of an internal combustion engine includes a valve body movable between a fully opened position and a fully closed position, an armature coupled to the valve body, a pair of springs urging the valve body, and a pair of electromagnets. Each electromagnet generates electromagnetic force to attract the armature, thereby moving the valve body. The engine valve is controlled by means of sliding mode. That is, when the valve body is moved from the fully closed position to the fully opened position, the electromagnets are controlled such that the state quantity of the valve body (the position and the moving speed) converges on a previously set switching hyperplane. The switching hyperplane is changed in accordance with the position of the valve body. As a result, a number of factors required for controlling the engine valve are satisfied.

Abstract: The invention relates to a control apparatus for controlling a solenoid valve that functions to displace one of an intake valve or an exhaust valve of an internal combustion engine. The object of the invention is to adjust, when a valve element connected to the solenoid valve is displaced between a valve-open position and a valve-closed position, the magnitude of an electromagnetic force displacing the valve element, to a controlled value based on a pressure acting on the valve element. The solenoid valve displaces the valve element (40) by a cooperation of resilient forces of an upper spring (104) and a lower spring (106) and electromagnetic forces of an upper coil (98) and a lower coil (100). In the control apparatus, a pressure acting on the valve element (40) is detected directly or indirectly.