Regulation - / the control of an inverse pendulum the left-hand side of the vehicle

摘要

Regulation - / the control of an inverse pendulum - the left-hand side of the vehicle (1) with a vehicle, a movement unit (5), that is able to move on a bottom surface, an actuator (7), which the vehicle motion, a driving unit (5), a base body (9), on which the vehicle, a movement unit (5) and the actuator (7) are attached, and a charging member (3) of an object to be transported to the base body (9) is mounted, so that in relation to a vertical direction is tiltable, comprising:an angle of inclination of - measuring element (52), which an output according to any one is - angle of inclination of the loading component (3) generates;a velocity command value - determining element (80), which has a a desired value (ωw _ xy _ cmd) of a speed of travel of the vehicle, a movement unit (5) sequentially velocity command value defining at least with use of an inclination error (θbe _ xy _ s), an inclination angle speed (θb _ dot _ xy _ s) of the base body (9) as well as a speed (from the inclination angle θb _ dot _ xy _ s) of the base body (9) and a from the driving speed nominal value (ωw _ xy _ cmd) is delayed preceding travelling speed value (ωw _ xy _ cmd _ p) of the base body (9) certain difficult to point speed (vb _ xy _ s) is determined, in order to the tilt error close to 0, wherein the tilt error an error between a by means of the output of the angle of inclination - measuring element (52) of the invention, the measured value (θb _ xy _ s) of the angle of inclination of the loading component and a predetermined, - angle of inclination (θb _ xy _ obj); andan actuator - control - / control element (82), which controls the actuator (7) / control unit controls, in order to cause is - speed of travel of the vehicle, a movement unit (5) the desired value (ωw _ xy _ cmd) of the driving speed follows, which, by means of which the velocity command value - determining element (80) certain velocity command value is defined.