Control unit of inverted pendulum model vehicle

摘要

Matching the target inclined angle where inclined angle of the base substance becomes standard, it offers the control unit of the inverted pendulum model vehicle which can adjust the gap of inclined angle and the target inclined angle in the standard condition which the vehicle should halt. Attitude control operation section 80, decides virtuality wheel angle of rotation accelerating command wdot_x_cmd and wdot_y_cmd inclined offset adjustment b_xy_offset (STEP21), operation treatment of 1st mode (STEP22) running when update condition is formed, as it updates inclined offset adjustment b_xy_offset, operation treatment of 2nd mode (STEP23) running, making use of the inclined offset adjustment b_xy_offset which is updated with 1st mode.