Controller of the inverted pendulum type vehicle, control method, and control program

摘要

PPROBLEM TO BE SOLVED: To provide an inverted-pendulum type vehicle which runs stably even when the gradient of the ground contact surface speed is suddenly changed by the movement or the stop of the ground contact surface of the inverted-pendulum type vehicle. PSOLUTION: A control unit of the inverted-pendulum type vehicle includes a ground contact speed calculation unit 81 for acquiring the relative ground contact surface speed when a second ground contact surface in the advancing direction is relatively moved to the first ground contact surface with which a wheel body is brought into contact, an inclination sensor for acquiring the ground contact surface acceleration of a ground contact part between the wheel body and the ground contact surface in contact therewith and the circumferential acceleration of the wheel body, a rotational angular acceleration correction unit 83 and a posture control computation unit 80 which calculates the differential acceleration between the ground contact surface acceleration and the circumferential acceleration, detects the advancement of the wheel body from the first ground contact surface to the second ground contact surface based on the differential acceleration, and changes the moving speed of the inverted-pendulum type vehicle according to the relative ground contact speed. PCOPYRIGHT: (C)2011,JPO&INPIT