CONTROL METHOD OF MOBILE BODY, AND TWO-WHEELED INVERTED PENDULUM MOBILE BODY

摘要

PROBLEM TO BE SOLVED: To provide a control method of a mobile body and a two-wheeled inverted pendulum mobile body, allowing downsizing/weight saving, and allowing securement of more stable performance.SOLUTION: In a control method of a two-wheeled inverted pendulum mobile body 100 including wheels 1, motors 25, 26 rotating the wheels 1, and control parts 4, 5 generating drive currents for driving the motors 25, 26 from powers of batteries 15, 16 and supplying the drive currents to the motors 25, 26, the control parts 4, 5 add oscillating currents having a higher frequency than a frequency of the drive currents when temperatures of the batteries 15, 16 are lower than a reference temperature, and supply the drive currents to the motors 25, 26, and a phase of the oscillating current added to the drive current by the control part 4 is opposite to a phase of the oscillating current added to the drive current by the control part 5.