Control unit for inverted pendulum vehicle
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United States of America Patent
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Feb 13, 2018
Issued Date -
N/A
app pub date -
Nov 5, 2015
filing date -
Nov 6, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.
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