CONTROL DEVICE FOR INVERTED PENDULUM VEHICLE

WIPO Patent Application WO/2011/036694

A1

Provided is a control device for an inverted pendulum vehicle, which can adjust the deviation between an inclination angle in a reference state in which the vehicle is required to stop with the inclination angle of a base agreeing with a target inclination angle used as the reference, and the target inclination angle. When an update condition for an inclination offset adjustment amount (θb_xy_offset) is established (STEP21), a posture control calculation unit (80) executes calculation processing in a first mode (STEP22) to update the inclination offset adjustment amount (θb_xy_offset), and executes calculation processing in a second mode (STEP23) to determine a virtual wheel rotation angle acceleration command (ωwdot_x_cmd, ωwdot_y_cmd) using the inclination offset adjustment amount (θb_xy_offset) updated in the first mode.

JP6099485	Handstand pendulum type vehicles
JPS5816954	[Title of the device] The fixed stand for monocycles
WO/2001/028847	VEHICLE AND VEHICLE SUSPENSION

TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
MURAKAMI HIDEO (JP)
UEBAYASHI YUICHI (JP)

PCT/JP2009/004785

March 31, 2011

September 23, 2009

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HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
MURAKAMI HIDEO (JP)
UEBAYASHI YUICHI (JP)

B62K1/00; B62K17/00

JP2007011634A	2007-01-18
JP2009101760A	2009-05-14
JP2009012720A	2009-01-22
JP2005001554A	2005-01-06
JP2008238981A	2008-10-09

SATO & ASSOCIATES (JP)
Patent business corporation creation international patent firm (JP)

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