| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a control device of an inverted-pendulum type vehicle in which the limit of a constitution of a moving operation part detectible in idling is reduced, and which can perform idling detection reduced in the limit of detectible idling. <P>SOLUTION: A control unit 50 estimates a gravity center velocity Vb_xy_exp1 of a vehicle 1 based on a determination valueθbdot_xyz_s of an inclination angular velocity of a base body 9, and estimates a gravity center velocity Vb_xy_exp2 of the vehicle 1 based on a measurement valueθbdot_xy_s of the inclination angular velocity of the base body 9. Furthermore, the control unit 50 detects the generation of the idling of a wheel body 5 based on a difference Vb_xy_dif of these estimation values. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
