INVERSION TYPE MOBILE OBJECT, AND METHOD FOR DETERMINING ABNORMALITY THEREOF

摘要

PROBLEM TO BE SOLVED: To highly precisely determine the abnormality of an inversion control by using a simple configurations.

SOLUTION: The inversion type mobile object 1 is provided with: a speed detection part 24 for detecting the revolving speeds V of driving wheels 31 and 32; a target speed setting part 231 for setting target revolving speeds VT of the driving wheels 31 and 32; an inversion control part 232 for performing the inversion control of an inversion type mobile object 1 by controlling the driving wheels 31 and 32; a speed deviation calculation part 233 for calculating a speed deviationΔV between the revolving speed V detected by the speed detection part 24 and the target revolving speed VT set by the target speed setting part 231; and an abnormality determination part 235 for determining whether or not inversion control is abnormal based on the speed deviationΔV calculated by the speed deviation calculation part 233.

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