Title:
CONTROLLER OF INVERTED PENDULUM TYPE VEHICLE
Document Type and Number:
Japanese Patent JP2021111187
Kind Code:
A
Abstract:
To provide a controller making it possible to implement movement control on a movement operation unit so as to suppress a slide in a power transmission mechanism between the movement operation unit and an actuator of an inverted pendulum type vehicle.SOLUTION: A controller 10 of an inverted pendulum type vehicle includes a target speed determination unit 13 that determines a target moving speed of the inverted pendulum type vehicle, a movement control manipulation quantity determination unit 11 that determines a manipulation quantity for movement control of a movement operation unit according to the target moving speed, and an actuator control unit 12 that controls an actuator 5 according to the manipulation quantity. The target speed determination unit 13 determines the target moving speed so that the moving acceleration of the inverted pendulum type vehicle will fall within a range where a slide in a power transmission mechanism between the movement operation unit and actuator 5 can be suppressed.SELECTED DRAWING: Figure 2
Inventors:
KUROSU TOMOHIRO
Application Number:
JP2020003505A
Publication Date:
August 02, 2021
Filing Date:
January 14, 2020
Export Citation:
Assignee:
HONDA MOTOR CO LTD
International Classes:
G05D1/02; B62K1/00; B62K17/00
Attorney, Agent or Firm:
Creation International Patent Office