Title:
倒立振子型車両
Document Type and Number:
Japanese Patent JP6920871
Kind Code:
B2
Abstract:
Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.
Inventors:
Hideo Murakami
Oozaki Shimasa
Tomohiro Kawakami
Kazushi Akimoto
Oozaki Shimasa
Tomohiro Kawakami
Kazushi Akimoto
Application Number:
JP2017085596A
Publication Date:
August 18, 2021
Filing Date:
April 24, 2017
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62K17/00; B62K3/00; G05D1/08
Domestic Patent References:
| JP2013237324A | ||||
| JP2008099346A | ||||
| JP2008169700A | ||||
| JP3003943A |
Foreign References:
| WO2016158720A1 |
Attorney, Agent or Firm:
Creation International Patent Office