ATTITUDE CONTROLLING METHOD IN COAXIAL TWO WHEELER

PURPOSE:To secure such a coaxial two wheeler that is travelable in a stable state by tilting a control arm in the reverse direction where a car body is tilted, and making it so as to give a restoring moment to the car body. CONSTITUTION:A pair of wheels 2, 3 are attached to both ends of an axle 1 and, in turn, a square frame-form car body 4 is tiltably supported on this axle 1. A fulcrum shaft 5 is rotatably installed and supported in an upper part of the car body 4, and in the center of the fulcrum shaft 5, an attitude control arm 6 with a weight 6a is hangingly clamped thereto. Rotary encoders 11, 14 are attached to the car body 4 and a wheel driving motor 7, detecting each turning angle of these wheels 2, 3 and a tilt angle to a vertical line. This detec tion signal is inputted into a microcomputer 16 which controls the wheel driving motor 7 and an attitude control arm driving motor 9 on the basis of these inputted signals, thus it aims at stabilization for the car body.