| 摘要 |
PROBLEM TO BE SOLVED: To maintain smooth operation of an inverted pendulum type moving body.SOLUTION: A control method of an inverted pendulum type moving body of the invention is a control method for controlling the inverted pendulum type moving body which moves in a posture as an inverted-pendulum by driving a motor by power supplied from a battery. The method comprises: a step for detecting at least one of a battery residual amount, a battery temperature, and a battery deterioration degree; a step for estimating the maximum value of an operation point of the motor in a power running area based on at least one of the battery residual amount, the battery temperature, and the battery deterioration degree; and a step for changing the maximum value of the operation point of the motor in a regenerative area so that the maximum value of the operation point of the motor at a boundary between the regenerative area and the power running area is maintained continuously, based on the maximum value of the operation point of the motor in the power running area. |
