PROBLEM TO BE SOLVED: To provide an inverted pendulum vehicle capable of appropriately performing an operation for stopping a mobile portion at a time of occurrence of abnormality.SOLUTION: A controller 50 controlling actuators 31R and 31L driving a mobile portion 5 of an inverted pendulum vehicle 1 includes an abnormal-time deceleration control unit 74 that executes a first deceleration control process for controlling the actuators 31R and 31L so as to decelerate the mobile portion 5 at a relatively small first deceleration degree and then executes a second deceleration control process for controlling the actuators 31R and 31L so as to decelerate the mobile portion 5 at a relatively large second deceleration degree and stop the mobile portion 5 at a time of occurrence of abnormality.
【課題】異常が発生した場合の移動部の停止動作を適切に行うことができる倒立振子型車両を提供する。【解決手段】倒立振子型車両1の移動部5を駆動するアクチュエータ31R,31Lを制御する制御装置50は、異常が発生した場合に、移動部5を相対的に小さい第1の減速度合で減速させるように31R,31Lを制御する第1減速制御処理を実行し、次いで、移動部5を相対的に大きい第2の減速度合で減速させて停止させるようにアクチュエータ31R,31Lを制御する第2減速制御処理を実行する異常時減速制御部74を含む。【選択図】図5
INVERTED PENDULUM VEHICLE
倒立振子型車両
2015-10-05
Patent
Electronic Resource
Japanese