PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle capable of continuously performing a normal movement operation of a vehicle as much as possible by properly controlling a movement operation part when the movement operation part is idling.SOLUTION: A controller 20 for a vehicle 1 comprises: a reference target motion determination unit 211 for sequentially determining a reference target motion of a movement operation part 3 so as to stabilize the posture of an object loading part 5; high frequency idling state quantity calculation units 214, 42a and 42b for calculating the high frequency idling state quantity of the movement operation part 3; and a target motion correction unit 42g for correcting the reference target motion with a correction amount determined according to the high frequency idling state quantity so as to reduce the idling high frequency component. An actuator device 8 is controlled according to a target motion obtained by correcting the reference target motion.SELECTED DRAWING: Figure 4
【課題】移動動作部の空転の発生時における移動動作部の制御を適切に行うことで、車両の正常な移動動作を極力、継続的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】車両1の制御装置20は、物体搭載部5の姿勢を安定化するように移動動作部3の基準目標運動を逐次決定する基準目標運動決定部211と、移動動作部3の高周波空転状態量を算出する高周波空転状態量算出部214,42a,42bと、空転の高周波成分を低減するように高周波空転状態量に応じて決定した補正量で基準目標運動を補正する目標運動補正部42gとを備え、基準目標運動を補正してなる目標運動に応じてアクチュエータ装置8を制御する。【選択図】図4
INVERTED PENDULUM TYPE VEHICLE
倒立振子型車両
2018-11-22
Patent
Electronic Resource
Japanese