Patent attributes
In an inverted pendulum type mobile unit that performs inverted pendulum stabilization control and traveling control based on a velocity target value as an input variable, a change in tilt angle of a vehicle body occurring during traveling is smoothed. The target value generating portion in the inverted pendulum type mobile unit generates the velocity target value VREF of the mobile unit and the tilt angular rate target value ωREF of the vehicle body so that a second-order time derivative of VREF is continuous and ωREF is continuous with respect to time. The controller in the inverted pendulum type mobile unit calculates a torque command value Tcom for the motor drivers using VREF and ωREF as a control target to allow the mobile unit to travel at VREF while maintaining the state where the gravity center of the vehicle body or the gravity center of total mass of the vehicle body and a subject supported on the vehicle body is located above the rotation center of the wheels.
