| 摘要 |
The control device of the present invention applies only a damping to a vehicle if a load angular position is in the vicinity of a load angular position reference input. In the preferred embodiment, a control portion has a control switching unit and a switching linear torque unit. The switching linear torque unit calculates a damping torque and a linear feedback torque, the damping torque being obtained by applying a negative sign to a product of the load angular speed and the damping parameter, the linear feedback torque being obtained by multiplying at least one of a position tracking error, a speed tracking error, and an acceleration tracking error by a predetermined gain. The control switching unit switches and outputs the damping torque and the linear feedback torque. The control switching unit outputs the damping torque if the load angular position is in the vicinity of the load angular position reference input, and outputs the linear feedback torque otherwise. The embodiment enables the inverted vehicle to stably travel at a desired speed without vibration. |
