Electrically movable vehicle and control program for driving electrically movable vehicle

摘要

The invention provides an electrically movable vehicle drivable by a simplified mode of control and a control program for driving the vehicle. A normalized value Y' representing translation motion and a normalized value X' representing turning motion are fed from a command value input unit 110 to a velocity command value calculating unit 120 . The calculating unit 120 determines a translation velocity command value V_g-trg based on the normalized value Y'. The calculating unit 120 determines a turn angular velocity command value omega_f-trg that will always satisfy Expression (2-4) for preventing the vehicle from falling down. The translation velocity command value V_g-trg and the turn angular velocity command value omega_f-trg determined by the unit 120 are fed to a control command value calculating unit 130 , which calculates control command values for left and right drive wheels. The control command values are fed to a motor control unit 140 to control motors Mr, Ml and control the drive wheels.