| 摘要 |
A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle. |
