PROBLEM TO BE SOLVED: To provide an inverted two-wheel type moving body which can be controlled such that motor output requested to maintain an inverted state does not exceed an output limit.SOLUTION: An inverted two-wheel type moving body 10 is configured to drive wheels 2R, 2L by motors 31R, 31L while maintaining an inverted state through inversion control, and comprises a control part 5 which drives the motors 31R, 31L and sensors 13R, 13L which detect driving states of the motors 31R, 31L. The control part 5 estimates output that the motors 31R, 31L require based upon the driving states, and increases a control gain for the inversion control when the estimated output exceeds an output limit of the motors 31R, 31L.SELECTED DRAWING: Figure 4

    【課題】倒立状態を維持するために要求されるモータ出力が、出力限界を超えないように制御可能な倒立二輪型移動体を提供すること。【解決手段】倒立二輪型移動体10は、倒立制御により倒立状態を維持しつつ、車輪2R、2Lをモータ31R、31Lによって駆動するものであって、モータ31R、31Lの駆動を制御する制御部5と、モータ31R、31Lの駆動状態を検出するセンサ13R、13Lと、を備えている。制御部5は、駆動状態に基づいて、モータ31R、31Lに要求される出力を推定し、推定した出力がモータ31R、31Lの出力限界を超えている場合、倒立制御のための制御ゲインを上昇させる。【選択図】図4


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    Title :

    INVERTED TWO-WHEEL TYPE MOVING BODY AND CONTROL METHOD THEREFOR


    Additional title:

    倒立二輪型移動体及びその制御方法


    Contributors:

    Publication date :

    2016-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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