Control device of inverted pendulum type vehicle
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United States of America Patent
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Apr 15, 2014
Grant Date -
Jun 21, 2012
app pub date -
Sep 18, 2009
filing date -
Sep 18, 2009
priority date (Note) -
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status (Latency Note)
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Abstract
In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as θbe_x_s and θbe_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which θbe_x_s and θbe_y_s are retained constant are defined as Vb_x_stb and Vb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of Vb_y_stb with respect to θbe_y_s becomes a ratio different from each other.
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