PROBLEM TO BE SOLVED: To realize an inverted pendulum vehicle capable of achieving stabilization of an occupant's posture even when wheels are braked by a mechanical brake.SOLUTION: An inverted pendulum vehicle includes a housing 10, wheels, a travel drive unit, a brake unit, a movable plate 13, a movable plate drive unit, a movable plate tilt sensor, and a control unit. While the housing is traveling, if the brake unit does not operate, the control unit does not displace the movable plate relatively to the housing, and feed-back controls the travel drive unit on the basis of a tilt angle and tilt angular speed of the movable plate so that an occupant can sustain a stable posture according to the principle of an inverted pendulum. While the housing is traveling, if the brake unit operates, the control unit displaces the movable plate in a front-back direction relatively to the housing, and feed-back controls the movable plate drive unit on the basis of the tilt angle and tile angular speed of the movable plate so that the occupant can sustain the stable posture according to the principle of an inverted pendulum.SELECTED DRAWING: Figure 4

    【課題】機械式のブレーキによって車輪を制動した際も、搭乗者の姿勢の安定化を図ることのできる倒立振子型車両を実現する。【解決手段】筐体10、車輪、走行駆動部、制動部、可動板13、可動板駆動部、可動板傾斜センサおよび制御部を備え、前記制御部は、前記筐体の走行中に前記制動部が動作していないとき、前記筐体に対して前記可動板を相対変位させず、前記可動板の傾斜角および傾斜角速度に基づき、倒立振子の原理によって搭乗者が安定した姿勢を保持するように前記走行駆動部をフィードバック制御し、一方、前記筐体の走行中に前記制動部が動作したとき、前記筐体に対して前記可動板を前後方向に相対変位させ、前記可動板の傾斜角および傾斜角速度に基づき、倒立振子の原理によって搭乗者が安定した姿勢を保持するように前記可動板駆動部をフィードバック制御することを特徴とする倒立振子型車両。【選択図】図4


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    Title :

    INVERTED PENDULUM VEHICLE


    Additional title:

    倒立振子型車両


    Contributors:

    Publication date :

    2018-08-16


    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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