Two-wheeled inverted pendulum vehicle and control method therefor
First Claim
1. A two-wheeled inverted pendulum vehicle comprising:
- a single-winding first motor and a single-winding second motor configured to respectively rotate one of two wheels;
a first control system and a second control system configured to respectively supply drive currents to the first motor and the second motor;
a sensor configured to detect a physical quantity that varies with a turn of the two-wheeled inverted pendulum vehicle;
a dynamic brake unit configured to be able to switch between an active state where a dynamic brake is applied to the first motor and an inactive state where the dynamic brake is not applied to the first motor; and
a control unit configured to, when the control unit has determined that the two-wheeled inverted pendulum vehicle is turning about a side of the second motor on the basis of the physical quantity detected by the sensor while supply of drive current from the first control system to the first motor is inhibited, activate the dynamic brake in the dynamic brake unit, whereinthe first control system is configured to, when an abnormality has been detected in the first control system, inhibit supply of drive current from the first control system to the first motor, andthe dynamic brake includes a relay and a dynamic brake resistor, and the relay switches between a connected state where the motor is connected to the dynamic brake resistor and a disconnected state where the motor is disconnected from the dynamic brake resistor.
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Accused Products
Abstract
A two-wheeled inverted pendulum vehicle includes: single-winding first and second motors respectively rotating one of two wheels; first and second control systems respectively supplying drive currents to the first and second motors; a sensor detecting a physical quantity that varies with a turn of the vehicle; a dynamic brake unit being able to switch between active and inactive states of dynamic brake being applied to the first motor; and a control unit, when the control unit has determined that the vehicle is turning about the second motor side on the basis of the physical quantity while supply of drive current from the first control system to the first motor is inhibited, activating dynamic brake in the dynamic brake unit. The first control system, when an abnormality has been detected in the first control system, inhibits supply of drive current from the first control system to the first motor.
22 Citations
5 Claims
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1. A two-wheeled inverted pendulum vehicle comprising:
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a single-winding first motor and a single-winding second motor configured to respectively rotate one of two wheels; a first control system and a second control system configured to respectively supply drive currents to the first motor and the second motor; a sensor configured to detect a physical quantity that varies with a turn of the two-wheeled inverted pendulum vehicle; a dynamic brake unit configured to be able to switch between an active state where a dynamic brake is applied to the first motor and an inactive state where the dynamic brake is not applied to the first motor; and a control unit configured to, when the control unit has determined that the two-wheeled inverted pendulum vehicle is turning about a side of the second motor on the basis of the physical quantity detected by the sensor while supply of drive current from the first control system to the first motor is inhibited, activate the dynamic brake in the dynamic brake unit, wherein the first control system is configured to, when an abnormality has been detected in the first control system, inhibit supply of drive current from the first control system to the first motor, and the dynamic brake includes a relay and a dynamic brake resistor, and the relay switches between a connected state where the motor is connected to the dynamic brake resistor and a disconnected state where the motor is disconnected from the dynamic brake resistor. - View Dependent Claims (2, 3, 4)
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5. A control method for a two-wheeled inverted pendulum vehicle including:
- a single-winding first motor and a single-winding second motor configured to respectively rotate one of two wheels; and
a first control system and a second control system configured to respectively supply drive currents to the first motor and the second motor, the control method comprising;when an abnormality has been detected in the first control system, inhibiting supply of drive current from the first control system to the first motor; detecting a physical quantity that varies with a turn of the two-wheeled inverted pendulum vehicle; determining whether the two-wheeled inverted pendulum vehicle is turning about a side of the second motor on the basis of the detected physical quantity; and when it is determined that the two-wheeled inverted pendulum vehicle is turning about the side of the second motor, applying a dynamic brake to the first motor, wherein the dynamic brake includes a relay and a dynamic brake resistor, and the relay switches between a connected state where the motor is connected to the dynamic brake resistor and a disconnected state where the motor is disconnected from the dynamic brake resistor.
- a single-winding first motor and a single-winding second motor configured to respectively rotate one of two wheels; and
Specification