To provide a controller making it possible to implement movement control on a movement operation unit so as to suppress a slide in a power transmission mechanism between the movement operation unit and an actuator of an inverted pendulum type vehicle.SOLUTION: A controller 10 of an inverted pendulum type vehicle includes a target speed determination unit 13 that determines a target moving speed of the inverted pendulum type vehicle, a movement control manipulation quantity determination unit 11 that determines a manipulation quantity for movement control of a movement operation unit according to the target moving speed, and an actuator control unit 12 that controls an actuator 5 according to the manipulation quantity. The target speed determination unit 13 determines the target moving speed so that the moving acceleration of the inverted pendulum type vehicle will fall within a range where a slide in a power transmission mechanism between the movement operation unit and actuator 5 can be suppressed.SELECTED DRAWING: Figure 2
【課題】倒立振子型車両の移動動作部とアクチュエータとの間の動力伝達機構での滑りを抑制し得るように移動動作部の移動制御を行うことを可能とする制御装置を提供する。【解決手段】倒立振子型車両の制御装置10は、倒立振子型車両の目標移動速度を決定する目標速度決定部13と、該目標移動速度に応じて移動動作部の移動制御用の操作量を決定する移動制御操作量決定部11と、該操作量に応じてアクチュエータ5を制御するアクチュエータ制御部12とを備える。目標速度決定部13は、倒立振子型車両の移動加速度が移動動作部とアクチュエータ5との間の動力伝達機構での滑りを抑制し得る範囲に収まるように目標移動速度を決定する。【選択図】図2
CONTROLLER OF INVERTED PENDULUM TYPE VEHICLE
倒立振子型車両の制御装置
2021-08-02
Patent
Elektronische Ressource
Japanisch