| 摘要 |
A movable body control device controls a motor which drives the wheels of a movable body, thereby performing inverted pendulum control of the movable body. Furthermore, the movable body control device is provided with a state quantity detection means for detecting state quantities of the movable body; a required power estimating means for operating in such a way that an estimated required output value showing a motor power required when the movable body is to be operated, is estimated on the basis of the movable body state quantities detected by the state quantity detection means; a limit output estimating means for operating in such a way that a limit output when a motor output is saturated is estimated on the basis of the movable body state quantities detected by the state quantity detection means; an adjusting command computing means for operating in such a way that, when an estimated required output value that is estimated by the required power estimating means is determined to exceed an estimated limit output value that is estimated by the limit output estimating means, a command value is adjusted so that the estimated required output value will be within the estimated limit output value; and a control means for controlling the motor of the movable body on the basis of the command value adjusted by the adjustment command computing means. |
