| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a coaxial two-wheeled vehicle which is stable against fluctuation of load weight and stably provides both attitude control and travel control. <P>SOLUTION: An attitude controller 84 calculates a motor torque Tgyr for keeping a base at a target angle based on the deviation between a base angle instructionθref which is an attitude instruction and a current base angleθ<SB>0</SB>that is calculated using a gyro-sensor 13 and an acceleration sensor 14. Meanwhile, a position proportional controller 86R, a differentiator 88R, and a speed proportional controller 89R perform PD control for the deviation between the rotational position instruction Prefr of a motor rotor 92R for a right wheel and the current rotational positionθr of the motor roller 92R. A current control amplifier 91R generates a motor current based on the value of a motor torque which is a control result added with an estimated load torque T<SB>1</SB>' calculated using the motor torque Tgyr and a pressure sensor for driving the motor rotor 92R. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
