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    • 22. 发明授权
    • Vehicle control device
    • 车辆控制装置
    • US08155852B2
    • 2012-04-10
    • US12095406
    • 2006-12-21
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • G06F19/00G06F7/70B60T8/24B60T8/1761B60T8/1764
    • B60T8/17552B60T2230/02B60W10/04B60W10/10B60W10/184B60W10/20B60W50/06B60W2050/0012B60W2050/0028B60W2050/0033B60W2050/0034B60Y2200/12
    • A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
    • 确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入,使得能够起作用的路面反作用力之间的关系的要求条件 基于第k轮的侧滑角和摩擦特性的检测值或估计值从第k轮的路面,与k的驱动/制动力相关的反馈控制输入 用于使车辆的状态量与接近零的基准状态量之间的差异,基于由车辆的驾驶员提供的驱动操作量的驱动/制动力前馈控制输入和第k 轮驱动/制动力操纵控制输入被满足。 这种布置使得可以适当地考虑从车轮上的路面起作用的路面反作用力的特性来适当地控制实际车辆的运动到期望的运动。
    • 23. 发明授权
    • Vehicle control device
    • 车辆控制装置
    • US08024091B2
    • 2011-09-20
    • US12095397
    • 2006-12-21
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • B60T8/58
    • B62D6/003B60T8/1755B60T2270/86B60W10/04B60W10/10B60W10/18B60W50/06B60W2050/0028B60W2050/0033B60W2050/0034B60Y2200/12
    • An FB distribution rule 20 determines an actual vehicle actuator operation control input and a vehicle model operation control input such that a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (a state amount error) approximates to zero, and the control inputs are used to operate an actuator device 3 of the actual vehicle 1 and the vehicle model 16. In the FB distribution law 20, when an actual vehicle feedback required amount based on the state amount error exists in a dead zone, then an actual vehicle actuator operation control input is determined by using the required amount as a predetermined value. A vehicle model manipulated variable control input is determined such that a state amount error is brought close to zero, independently of whether an actual vehicle feedback required amount exists in a dead zone. This enhances linearity of a control system and also enhances the robustness against disturbance factors or changes therein while carrying out operation control of an actuator that suits a behavior of an actual vehicle as much as possible.
    • FB分配规则20确定实际车辆致动器操作控制输入和车辆模型操作控制输入,使得由车辆型号16确定的基准状态量与实际车辆1的实际状态量之间的差(状态量误差 )近似为零,并且控制输入用于操作实际车辆1和车辆模型16的致动器装置3.在FB分配规则20中,当基于状态量误差的实际车辆反馈所需量存在于 死区,则通过使用所需量作为预定值来确定实际车辆致动器操作控制输入。 确定车辆模型操纵变量控制输入,使得状态量误差接近于零,而与在死区中是否存在实际车辆反馈需求量无关。 这提高了控制系统的线性度,并且在尽可能地执行适合实际车辆的行为的致动器的操作控制的同时,增强了抗干扰因素或其变化的鲁棒性。
    • 26. 发明申请
    • Light emitting device
    • 发光装置
    • US20070247841A1
    • 2007-10-25
    • US11709756
    • 2007-02-23
    • Hiroshi KonoMasashi IshidaSaiki Yamamoto
    • Hiroshi KonoMasashi IshidaSaiki Yamamoto
    • F21V15/01F21V9/00
    • H01L33/486H01L25/0753H01L33/60H01L2224/48247H01L2224/48465H01L2924/01322Y10S362/80H01L2924/00
    • A light emitting device comprises: a light emitting element; a plurality of lead frames to which the light emitting element is electrically connected; and a package that includes in its interior at least part of said lead frames which protrude outward at one end, that is equipped with an opening for taking off light from the light emitting element, and that extends in the lengthwise direction, wherein a concave portion is formed in the outer surface of at least part of the package wall, the lead frames protruding outward from the package are accommodated in this concave portion, and the walls that constitute said opening and are across from each other in the widthwise direction of the package comprise at least a first wall that is across from the light emitting element, a second wall that is raised up by a step from the first wall, and a third wall that links the first wall and the second wall, and the second wall and third wall are formed thicker than the first wall.
    • 发光器件包括:发光元件; 发光元件电连接的多个引线框架; 以及在其内部包括在一端向外突出的所述引线框架的至少一部分的封装,所述引线框架配备有用于从所述发光元件取出光并且沿长度方向延伸的开口,其中凹部 形成在包装壁的至少一部分的外表面上,从包装体向外突出的引线框架容纳在该凹部中,并且构成所述开口的壁在包装的宽度方向上彼此相对 至少包括从所述发光元件穿过的第一壁,从所述第一壁向上升高一级的第二壁和连接所述第一壁和所述第二壁的第三壁,以及所述第二壁和所述第三壁 壁形成比第一壁更厚。
    • 27. 发明授权
    • Image forming apparatus with sheet jam detection
    • 具有卡纸检测的图像形成装置
    • US5280322A
    • 1994-01-18
    • US77498
    • 1993-06-17
    • Hiroshi Kono
    • Hiroshi Kono
    • G03G15/00G03G15/16G03G21/00
    • G03G15/70G03G15/1655
    • An image forming apparatus includes an image forming unit which has a rotating photoconductor, and a transfer unit disposed adjacent the photoconductor which retains an image-formation sheet on its circumferential surface. It further includes a sheet feeding path for feeding a sheet to the transfer unit, a sheet discharging path for discharging a sheet from the transfer unit, a first sensor for detecting a jammed-sheet condition in the sheet feeding path, a second sensor for detecting a jammed-sheet condition in the sheet discharging path, and assume function which assumes a paper jam in the transfer unit in conjunction with the determination of the first detecting sensor and/or the second detecting sensor. Accordingly, the apparatus does not neglect to cope with a sheet remaining on the transfer unit under a halt condition due to the sheet-jam. Thus obstruction to a following copying operation by a sheet remaining on the transfer unit is averted after the jammed-sheet condition is remedied.
    • 图像形成装置包括具有旋转的感光体的图像形成单元和邻近感光体设置的转印单元,所​​述转印单元将图像形成片材保持在其圆周表面上。 它还包括用于将片材供给到转印单元的片材馈送路径,用于从转印单元排出片材的片材排出路径,用于检测片材进给路径中的卡纸状态的第一传感器,用于检测片材进给检测的第二传感器 并且具有与第一检测传感器和/或第二检测传感器的确定一起发生在传送单元中卡纸的功能。 因此,该设备在由于卡纸而处于停止状态下不会忽略剩余在转印单元上的纸张。 因此,在补救了卡纸状态之后,避免了由残留在转印单元上的纸张进行的后续复印操作的阻碍。
    • 29. 发明授权
    • Vehicle control device
    • 车辆控制装置
    • US08027775B2
    • 2011-09-27
    • US12097130
    • 2006-12-21
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • B60W30/02B60T8/172
    • B60T8/17552B60T2230/02B60W10/04B60W10/10B60W10/18B60W40/10B60W40/101B60W2050/0033B60W2050/0034B60W2520/20B60W2530/20B62D6/003
    • A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.
    • 基于作为实际车辆1的运动的状态量与基准状态量之间的差的状态量误差确定基本所需的操作变量Mfbdmd_a,然后基于状态量误差来确定驱动/制动力操作控制输入Fxfbdmd_n 基于上述基本需要的操纵变量确定车轮。 此时,分别将特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本要求操作量Mfbdmd_a的变化成比例,并且比率 根据增益调整参数(例如侧滑角&bgr; f_act和&bgr; r_act),使Fxdmd_n相对于Mfbdmd_a的变化的变化的增益(增益)变化。 通过适当地操作作用在车辆的前轮上的路面反作用力和作用在后轮上的路面反作用力,能够将实际车辆的运动适当地控制为期望的运动。
    • 30. 发明申请
    • VEHICLE CONTROL DEVICE
    • 车辆控制装置
    • US20090187302A1
    • 2009-07-23
    • US12094345
    • 2006-12-21
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • Toru TakenakaTakayuki ToyoshimaHiroyuki UrabeHiroshi Kono
    • B60W50/06
    • B62D6/04B60T8/1755B60T2230/02B60T2270/86B60W2050/0033B62D6/003Y10S903/93
    • A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.
    • 用于操作实际车辆致动器的控制输入和用于操作车辆模型的控制输入由FB分布定律20基于由车辆模型16确定的参考状态量与实际状态量之间的差确定 实际车辆1(状态量误差)使得状态量误差近似为零,然后分别基于控制输入来操作实际车辆1和模型车辆16的致动器装置3。 FB分配规律20由于用于操作实际车辆致动器的控制输入而估计作用在实际车辆1上的外力,并且基于估计值和基准值确定用于操作车辆模型的控制输入 用于操作车辆模型的控制输入以将状态量误差近似为零。 因此,提供一种能够在对尽可能多地适用于实际车辆的行为的执行机构进行操作控制的同时,能够增强抗干扰因素或其变化的鲁棒性的车辆控制装置。