| 摘要 |
PROBLEM TO BE SOLVED: To detect sensor abnormality at higher speed in servo control.SOLUTION: An inverted two-wheel vehicle of the invention includes a motor which rotates wheels, a first sensor which detects a predetermined physical quantity in the motor as a sensor value, a second sensor which detects a same kind of physical quantity as the physical quantity detected in the motor by the first sensor as a sensor value, and, a control part which controls the inverted two-wheel vehicle by applying servo control to the motor on the basis of a first deviation which is a deviation between the first output value of the motor based on the sensor value detected by the first sensor and the target value of the first output value. The control part implements control upon abnormality which is predetermined as control corresponding to abnormality of the first sensor or the second sensor when determining that the magnitude of the deviation between the first deviation and a second deviation which is the deviation between the second output of the motor based on the sensor value detected by the second sensor and the target value of the second output is the predetermined threshold value or more. |
