| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a control device of an inverted-pendulum type vehicle in which the limit of a constitution of a moving operation part detectible in idling is reduced, and which can perform idling detection reduced in the limit of detectible idling. <P>SOLUTION: A control unit 50 calculates a floor reaction force F acting on a vehicle 1 from a measurement valueθbdot_xy_s of an inclination angular velocity of a base body 9 and an estimation value Vb_xy of center velocity of the vehicle 1, and calculates torque T which needs to be given to a wheel body 5 when the calculated floor reaction force F is generated. Furthermore, the control unit 50 estimates the torque T which regulates a target value of a determined control operation quantity. Furthermore, the control unit 50 detects the generation of idling of the wheel body 5 based on a difference of the torque T. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
