Patent attributes
A traveling apparatus and a method for controlling thereof performs efficient charging with regenerative electrical power. An angle θ0 of a table (not illustrated) is detected by a gyroscopic sensor and an acceleration sensor to be supplied to a central control unit. Then, positional command signals Pref1(t) and Pref2(t) formed are supplied to motor control units which perform control of driving left and right motors respectively. Further, rotational positions θm1 and θm2 of the motors are respectively detected in rotary encoders, those det signals are fed back to the motor control units, and control is performed so as to comply with the positional command signals Pref1(t) and Pref2(t) formed in the central control unit. At the same time, a regenerative state is detected by comparing the rotational positions θm1 and θm2 with the positional command signals Pref1(t) and Pref2(t), and information thereon is transmitted to a regenerative charging circuit by serial communication to perform a control of discharging and charging a secondary battery (battery).
