The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 18, 2012
Filed:
Nov. 02, 2007
Katsunori Doi, Tokyo, JP;
Katsunori Doi, Tokyo, JP;
Abstract
The disclosed vehicle has posture control of an inverted pendulum which provides good riding comfort. A balancer target position λ* (calculated value) is determined according to target acceleration α* indicated by an occupant. Driving thrust Sof a balanceris determined by state feedback control so that a current balance position λ (measured value) becomes closer to the determined balancer target position λ*, and the balanceris driven. An output τof a driving wheel actuatoris determined from the current balancer position λ (measured value) resulting from driving of the balancer. Since a driving torque is determined from an actual position of the balancer, stable upright posture control can be implemented even in a transient state which lasts until the balancerreaches the target position.