CONTROL UNIT FOR INVERTED PENDULUM VEHICLE

摘要

Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.

主权项

1. A control unit for an inverted pendulum vehicle that includes a base frame and a motion unit configured to travel on a floor surface and supporting the base frame, the control unit comprising:
a state information acquiring unit for acquiring state information of the vehicle; and a control process unit for controlling the motion unit according to the state information acquired by the state information acquiring unit; wherein the control process unit includes a target tilt command computation unit for computing a target tilt command for the base frame, and an attitude control computation unit for computing a target translational speed for fulfilling the target tilt command; and when the state information has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification onto the target tilt command.