TWO-WHEELED INVERTED PENDULUM VEHICLE AND CONTROL METHOD THEREOF

摘要

PROBLEM TO BE SOLVED: To maintain straight line stability even when a motor with single winding is used for reducing cost.;SOLUTION: A two-wheeled inverted pendulum vehicle comprises: first and second motors 21, 22 of single winding type for rotating two wheels; and first and second control systems for supplying drive current to the first and second motors 21, 22. When abnormality is detected in the first control system, supply of drive current to the first motor 21 from the first control system is stopped. The two-wheeled inverted pendulum vehicle comprises: a sensor for detecting physical quantity which changes according to turning operation of the two-wheeled inverted pendulum vehicle; a dynamic brake unit in which effectiveness/non-effectiveness of the dynamic brake to the first motor 21 is switched; and a control part 10 which makes the dynamic brake effective when it is determined, on the basis of the physical quantity detected by the sensor, that the two-wheeled inverted pendulum vehicle is in turning operation around the second motor side while the supply of drive current to the first motor 21 from the first control system is stopped.;COPYRIGHT: (C)2015,JPO&INPIT