VEHICLE

摘要

A vehicle utilizing the attitude control of an inverted pendulum, wherein the attitude of the vehicle is dynamically controlled by moving a balancer. The inclination of a vehicle body is detected by a gyro-sensor, a torque T1 against the inclination of a boarding part is calculated by using the angular acceleration of the vehicle body, and a torque T2 for returning the boarding part in the opposite direction of an inclination direction by canceling that torque is generated by moving the balancer (B). Namely, a reaction torque T3 against the torque T2 is allowed to act on the boarding part by driving the balancer with the torque T2 (> T1) in the inclination direction. The boarding part is pushed back in the opposite direction of the first inclination direction by the reaction torque T3. Since the boarding part is pushed back in the opposite direction, the angular acceleration of the vehicle body when the boarding part is tilted to the opposite side of a vertical line is detected by the gyro sensor, and the balancer is moved again in the opposite direction with the torque T2 corresponding to the angular acceleration.