| 摘要 |
In a coaxial two-wheeled vehicle, an attitude controller ( 84 ) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command thetaref serving as attitude command and current base angle theta<SUB>0 </SUB>calculated by using a gyro sensor ( 13 ) and an acceleration sensor ( 14 ). On the other hand, at a position proportional controller ( 86 R), a differentiator ( 88 R) and a velocity proportional controller ( 89 R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor ( 92 R) for right wheel and current rotation position thetar of a motor rotor ( 92 R). A current control amplifier ( 91 R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T<SUB>1 </SUB>calculated by using pressure sensors to drive the motor rotor ( 92 R).
|
