| 摘要 |
<p>PURPOSE:To tilt a vehicle in a desired direction by a driver, so that running can be performed in that direction, by detecting a tilt angle and a tilt angular speed of a line, which connects a rotary shaft line to a position of the center of gravity, relating to a direction of the center of gravity, and determining a drive control value so as to reduce this detection value. CONSTITUTION:An unstable vehicle is constituted of a single ball unit 10 and a frame 12 mounted onto the ball unit. Four pillars 22 are protrusively provided downward from corner parts of the frame 22 to hold the ball unit 10 by four rollers 24 mounted to a point end of the pillar. Further, DC servomotors 26a, 26b are stored in two 22a, 22 of the four pillars 22, and an output of the servomotor is transmitted to a driven sprocket 30 and a roller 24 through a belt 28. A box 40 is provided in a suitable position of the frame 12, and a tilt sensor 42 and a control unit 44 are housed in the inside of the box. Here for reducing a detection value of the tilt sensor 42, control values of the DC servomotors 26a, 26b are determined.</p> |
