To provide a traveling body traveling while maintaining a vehicle body with an occupant onboard in an inverted-pendulum state which is capable of considering the individual differences of occupants so as to ensure the excellent traveling performance without giving any uneasy feeling to the occupants.
After maintaining the vehicle body with an occupant onboard in the inverted-pendulum state, an initial command value output unit 42 outputs the initial torque command value of the preset waveform to a motor 16. The responsive waveform of the angle of inclination of the vehicle body oscillating by the initial torque command value is detected by an inclination angle sensor 26. The responsive waveform of the angle of inclination is different according to the behavior of the occupant onboard a traveling body 10. A correction unit 44 corrects control variables (the limit value VL of a speed limiter 50 and the limit value GL of an acceleration limiter 52, and the gain K in a drive control unit 40) to the correction value corresponding to the responsive waveform of the angle of inclination. Since the control variables are corrected based on the responsive waveform of the angle of inclination of the vehicle body including the behavior of the occupant, the traveling body having the traveling performance suitable for the occupant without giving any uneasy feeling to each occupant can be realized.
YAMADA KOSHI
FUWA TOSHIO
| JP2005293154A | 2005-10-20 | |||
| JP2005145293A | 2005-06-09 | |||
| JP2000102523A | 2000-04-11 | |||
| JP2005293154A | 2005-10-20 | |||
| JP2005145293A | 2005-06-09 | |||
| JP2000102523A | 2000-04-11 |
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