INVERTED MOVING BODY, CONTROL METHOD THEREOF AND PROGRAM

PROBLEM TO BE SOLVED: To effectively consume regenerative power while maintaining small-sized resistance.SOLUTION: An inverted moving body comprises: an attitude detection means which detects attitude information; a drive unit which drives wheels; a first controller which generates a first control s...

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Bibliographische Detailangaben
1. Verfasser:	OKUMATSU YOSHIHIRO
Format:	Patent
Sprache:	eng
Schlagworte:	CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS CONTROLLING CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS CONVERSION OR DISTRIBUTION OF ELECTRIC POWER CYCLE AXLE SUSPENSIONS CYCLE FRAMES CYCLE SIDE-CARS, FORECARS, OR THE LIKE CYCLE STEERING DEVICES CYCLES ELECTRICITY GENERATION LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS PERFORMING OPERATIONS PHYSICS REGULATING RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING
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Beschreibung
Zusammenfassung:	PROBLEM TO BE SOLVED: To effectively consume regenerative power while maintaining small-sized resistance.SOLUTION: An inverted moving body comprises: an attitude detection means which detects attitude information; a drive unit which drives wheels; a first controller which generates a first control signal for driving the drive unit by multiplying a value based on the attitude information detected by the attitude detector by a first control gain; a second controller which generates a second control signal for driving the drive unit by multiplying the value based on the attitude information detected by the attitude detector by a second control gain; and a determinator which determines whether or not a regenerative voltage is equal to or more than a predetermined threshold value. The drive unit drives the wheels on the basis of the first control signal outputted from the first controller and the second control signal outputted from the second controller. When the determinator determines that the regenerative voltage is equal to or more than the predetermined threshold value, the first and second controller change the first and second control gains by inverting a code of one of the first and second control gains.