JP2015027874A - Two-wheeled inverted pendulum vehicle and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain straight line stability even when a motor with single winding is used for reducing cost.SOLUTION: A two-wheeled inverted pendulum vehicle comprises: first and second motors 21, 22 of single winding type for rotating two wheels; and first and second control systems for supplying drive current to the first and second motors 21, 22. When abnormality is detected in the first control system, supply of drive current to the first motor 21 from the first control system is stopped. The two-wheeled inverted pendulum vehicle comprises: a sensor for detecting physical quantity which changes according to turning operation of the two-wheeled inverted pendulum vehicle; a dynamic brake unit in which effectiveness/non-effectiveness of the dynamic brake to the first motor 21 is switched; and a control part 10 which makes the dynamic brake effective when it is determined, on the basis of the physical quantity detected by the sensor, that the two-wheeled inverted pendulum vehicle is in turning operation around the second motor side while the supply of drive current to the first motor 21 from the first control system is stopped.

Description

  The present invention relates to an inverted motorcycle and a control method thereof, and more particularly to a technique for controlling an inverted motorcycle having a dual control system.

  In the vehicle disclosed in Patent Document 1, the motor has a plurality of excess windings, and the motor can be driven from a plurality of power amplifier control units. Further, this vehicle has a plurality of power amplifier control units and a plurality of processors connected to the plurality of power amplifier control units via a system bus to multiplex the control system. When one of the processors fails, the vehicle is controlled based on the output of a processor other than the failed processor. However, as described above, if the motor is a multiple winding, there is a problem that the cost increases.

JP 2009-187561 A

  The applicant of the present application has found problems to be described below in examining an inverted motorcycle that can reduce the cost with respect to the problems described above. In addition, the content demonstrated below is the content which the applicant of this application examined newly, and does not demonstrate a prior art.

  FIG. 15 is a block diagram showing the configuration of the control system in the inverted two-wheeled vehicle 400 in which the motors 407 and 408 are single windings and the control system is duplicated in the first and second systems. FIG. 16 is a schematic configuration of the inverted two-wheeled vehicle 400 in the case where the motors 407 and 408 are single windings and the control system is duplexed between the first and second systems.

  As shown in FIG. 16, the motors 407 and 408 can be controlled only from the control system corresponding to the motors 407 and 408 in the redundant control system. The microcomputers 401 and 402 control the 407 and 408 via the inverters 403 and 404 so as to maintain inversion based on the outputs from the attitude angle sensors 411 and 412. Further, the microcomputers 401 and 402 perform feedback control of the motors 407 and 408 based on outputs from the rotation angle sensors 409 and 410.

  In this configuration, the operation of the inverted motorcycle 400 when a failure occurs in one of the control systems will be described with reference to the flowchart shown in FIG. Here, a case will be described in which the control system of the first system out of the first and second control systems fails.

  When detecting a failure in the 1-system control system (S101), the 1-system microcomputer 401 turns off the 1-system relay 405 (S102). That is, the 1-system inverter 403 and the motor 407 are separated, and the motor 407 is in a free state. The first-system microcomputer 401 outputs information notifying that the first-system control system has failed to the second-system microcomputer 402.

  The second-system microcomputer 402 detects that the first-system control system has failed based on the information notified from the first-system microcomputer 401 (S103). When a failure of the first control system is detected, the second system microcomputer 402 controls the motor 408 via the inverter 404 so as to reduce the vehicle speed of the inverted two-wheeled vehicle 400. That is, the inverted motorcycle can be stopped while performing the inverted control of the inverted motorcycle from the remaining control system. However, in this case, since only the motor 408 is driven from the second control system and the inverted motorcycle 400 is controlled to be inverted, the vehicle body of the inverted two-wheeled vehicle 400 is centered on the free motor 407 on the first system side. Rotates (S104). When the vehicle speed of the inverted motorcycle is sufficiently reduced, the passenger of the inverted motorcycle can get off (S105).

  As described above, in order to reduce the cost, if the motor 407, 408 is simply configured as a single winding, and if a failure occurs in one control system, the inverted motorcycle is stopped accordingly. When doing so, the inverted motorcycle will rotate (turn). That is, there is a problem that the straight running stability cannot be maintained, and the inverted two-wheeled vehicle cannot be stably driven and brought into the stopped state. However, in an inverted motorcycle, it is necessary to ensure control stability.

  The present invention has been made on the basis of the above-described knowledge, and an inverted two-wheeled vehicle capable of maintaining straight running stability and its control even when the motor has a single winding to reduce cost. It aims to provide a method.

  The inverted two-wheeled vehicle according to the first aspect of the present invention includes a single-winding first motor and a second motor that rotate each of two wheels, and each of the first motor and the second motor. A first control system and a second control system for supplying a drive current, and when an abnormality is detected in the first control system, the drive current from the first control system to the first motor; A sensor that detects a physical quantity that changes according to a turning operation of the inverted motorcycle, a dynamic brake unit that switches between enabling / disabling of a dynamic brake for the first motor, The second motor based on the physical quantity detected by the sensor when the supply of drive current from the first control system to the first motor is suppressed When said inverted two-wheel vehicle is determined to be a turning operation about the one in which and a control unit to enable dynamic braking in the dynamic brake unit.

  The inverted two-wheeled vehicle according to the second aspect of the present invention includes a single-winding first motor and a second motor that rotate each of the two wheels, and each of the first motor and the second motor. A first control system and a second control system for supplying a drive current, and when an abnormality is detected in the first control system, the drive current from the first control system to the first motor; A relay that switches whether or not to supply the drive current from the second control system to the first motor together with the second motor, and the first motorcycle A controller that switches the relay to supply the drive current from the second control system to the first motor when the supply of the drive current from the control system to the first motor is inhibited; It is equipped with.

  The inverted two-wheeled vehicle according to the third aspect of the present invention includes a single-winding first motor and a second motor that rotate each of the two wheels, and each of the first motor and the second motor. A first control system and a second control system for supplying a drive current, and when an abnormality is detected in the first control system, the drive current from the first control system to the first motor; Is an inverted two-wheeled vehicle that includes a differential suppression device that connects the output shaft of the first motor and the output shaft of the second motor.

  The control method according to the fourth aspect of the present invention includes a single-winding first motor and a second motor that rotate each of two wheels, and each of the first motor and the second motor. An inverted two-wheeled vehicle control method comprising a first control system and a second control system for supplying a drive current, wherein when an abnormality is detected in the first control system, the first control system The step of suppressing the supply of drive current to the first motor, the step of detecting a physical quantity that changes according to the turning operation of the inverted motorcycle, and the second motor side based on the detected physical quantity Determining whether the inverted two-wheeled vehicle is turning around the first motor, and determining that the inverted two-wheeled vehicle is turning around the second motor side. Against Those having the steps of applying a dynamic brake, a.

  The control method according to the fifth aspect of the present invention includes a single-winding first motor and a second motor that rotate each of two wheels, and each of the first motor and the second motor. An inverted two-wheeled vehicle control method comprising a first control system and a second control system for supplying a drive current, wherein when an abnormality is detected in the first control system, the first control system The second motor so that the drive current from the second control system is supplied to the first motor together with the second motor. And switching the connection state between the control system and the first motor.

  According to each aspect of the present invention described above, it is possible to provide an inverted two-wheeled vehicle that can maintain straight running stability and a control method thereof even in a configuration in which the motor is a single winding in order to reduce costs. it can.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the inverted motorcycle concerning Embodiment 1 to an outline structure. 1 is a block diagram illustrating a configuration of a control device according to a first embodiment; 1 is a diagram illustrating a schematic structure inside an inverted motorcycle according to a first embodiment; 1 is a configuration diagram of a relay and a dynamic brake mechanism according to a first embodiment. 3 is a flowchart showing a control process of the inverted motorcycle according to the first embodiment. 3 is a flowchart showing a straight-ahead control process for an inverted motorcycle according to the first embodiment; FIG. 3 is a block diagram illustrating a configuration of a control device according to a second exemplary embodiment. It is a block diagram of the relay concerning Embodiment 2, and a safety control relay. 6 is a flowchart showing a control process for an inverted motorcycle according to a second embodiment; FIG. 10 is a block diagram showing another configuration of the control device according to the second exemplary embodiment. FIG. 6 is a block diagram illustrating a configuration of a control device according to a third embodiment. FIG. 6 is a diagram showing a schematic structure inside an inverted motorcycle according to a third embodiment. It is a figure which shows the rotation difference and torque transmission condition in normal time. It is a figure which shows the rotation difference and torque transmission condition at the time of abnormality occurrence. 10 is a flowchart showing a control process for an inverted motorcycle according to a third embodiment; It is a block diagram which shows the structure of the control system of the inverted motorcycle of a single winding motor. It is a figure which shows schematic structure of the inverted motorcycle of the motor of a single winding. It is a flowchart which shows operation | movement of the inverted motorcycle of a single winding motor.

<Embodiment 1 of the Invention>
First, the first embodiment of the present invention will be described. An inverted motorcycle 1 according to a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a diagram showing a schematic configuration of an inverted motorcycle 1 according to a first embodiment of the present invention.

  The inverted motorcycle 1 detects a posture angle of the inverted motorcycle 1 in the front-rear direction when a passenger who has boarded the step plate 3 applies a load in the front-rear direction of the inverted motorcycle 1 with a sensor. Based on this, the motors that drive the left and right wheels 2 are controlled so that the inverted motorcycle 1 is maintained in the inverted state. That is, the inverted motorcycle 1 accelerates forward so that the inverted motorcycle 1 maintains the inverted state when the passenger riding on the step plate 3 applies a load forward and tilts the inverted motorcycle 1 forward. When a person applies a load rearward to tilt the inverted motorcycle 1 backward, the motors that drive the left and right wheels 2 are controlled so as to accelerate backward so as to maintain the inverted motorcycle 1 in an inverted state. In the inverted two-wheeled vehicle 1, a control system for controlling the motor is duplicated in order to ensure control stability.

  The control of these motors is performed by the control device 10 mounted on the inverted motorcycle 1. The control device 10 will be described later with reference to FIG.

  Then, with reference to FIG. 2, the structure of the control apparatus 10 concerning Embodiment 1 of this invention is demonstrated. With reference to FIG. 2, it is a block diagram which shows the structure of the control apparatus 10 concerning Embodiment 1 of this invention.

  The control device 10 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputer”), DCDC converter (hereinafter also referred to as “DCDC”) 13 and 14, batteries 15 and 16, inverters 17 and 18, relays 19 and 20, Motors 21 and 22, rotation angle sensors 23 and 24, attitude angle sensors 25 and 26, yaw rate sensors 27 and 28, and dynamic brake mechanisms 29 and 30 are included.

  The control device 10 is a dual system in which a control system of 1 system and a control system of 2 systems are duplexed in order to secure the control stability of the inverted motorcycle 1. The first control system includes a microcomputer 11, a DCDC converter 13, a battery 15, an inverter 17, a relay 19, a rotation angle sensor 23, a posture angle sensor 25, a yaw rate sensor 27, and a dynamic brake mechanism 29. The first control system controls the drive of the motor 21. The two-system control system includes a microcomputer 12, a DCDC converter 14, a battery 16, an inverter 18, a relay 20, a rotation angle sensor 24, an attitude angle sensor 26, a yaw rate sensor 28, and a dynamic brake mechanism 30. The two-system control system controls the driving of the motor 22.

  Each of the microcomputers 11 and 12 is an ECU (Engine Control Unit) that controls the motors 21 and 22 to maintain the inverted state based on the posture angle signals output from the posture angle sensors 25 and 26 as described above. It is. Each of the microcomputers 11 and 12 has a CPU (Central Processing Unit) and a storage unit, and executes processing as each of the microcomputers 11 and 12 in the present embodiment by executing a program stored in the storage unit. To do. That is, the program stored in the storage unit of each of the microcomputers 11 and 12 includes a code for causing the CPU to execute processing in each of the microcomputers 11 and 12 in the present embodiment. The storage unit includes, for example, an arbitrary storage device that can store the program and various types of information used for processing in the CPU. The storage device is, for example, a memory or a hard disk.

The microcomputer 11 outputs a command value for controlling the motor 21 to the inverter 17. Further, the microcomputer 11 switches between enabling / disabling the dynamic brake for the motor 22 by the dynamic brake mechanism 29. Specifically, the microcomputer 11 outputs to the dynamic brake mechanism 29 a switching instruction signal that instructs the motor 22 to switch the dynamic brake OFF / ON.
The microcomputer 12 outputs a command value for controlling the motor 22 to the inverter 18. Further, the microcomputer 12 switches between enabling / disabling the dynamic brake for the motor 21 by the dynamic brake mechanism 30. Specifically, the microcomputer 12 outputs to the dynamic brake mechanism 30 a switching instruction signal that instructs the motor 21 to switch the dynamic brake OFF / ON.

  Here, the microcomputer 11 generates a command value for the inverter 17 so that the motor 21 is feedback-controlled based on the rotation angle signal output from the rotation angle sensor 23 and indicating the rotation angle of the motor 21. The microcomputer 12 generates a command value for the inverter 18 so as to feedback-control the motor 22 based on a rotation angle signal output from the rotation angle sensor 24 and indicating the rotation angle of the motor 22.

  The microcomputer 11 operates based on power supplied from the DCDC 13. In addition, the microcomputer 12 operates based on the power supplied from the DCDC 14.

  The DCDC 13 transforms the voltage in the power supplied from the battery 15 into a voltage suitable for supply to the microcomputer 11 and supplies the power to the microcomputer 11. The DCDC 14 transforms the voltage in the electric power supplied from the battery 16 into a voltage suitable for supply to the microcomputer 12 and supplies the electric power to the microcomputer 12.

  Each of the batteries 15 and 16 supplies electric power necessary for the operation to the control device 10. Specifically, the battery 15 supplies power necessary for the operation of the microcomputer 11 to the DCDC 13. The battery 16 supplies power necessary for the operation of the microcomputer 12 to the DCDC 14.

  The inverter 17 performs PWM (Pulse Width Modulation) control based on the command value output from the microcomputer 11, thereby generating a drive current for driving the motor 21 from the power supplied from the battery 15, and the relay 19. Is supplied to the motor 21. The inverter 18 performs PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for driving the motor 22 from the electric power supplied from the battery 15, and the motor 22 via the relay 20. To supply.

  The relay 19 separates the inverter 17 and the motor 21 in accordance with control from the microcomputer 11 that is performed when the microcomputer 11 detects an abnormality in the first control system. The relay 20 separates the inverter 18 and the motor 22 according to the control from the microcomputer 12 that is performed when the microcomputer 12 detects an abnormality in the two control systems. Thus, by separating the control system in which the abnormality has occurred from the motors 21 and 22, erroneous control is prevented and safety in control is ensured. An abnormality in the control system can be any abnormality. An abnormality in the control system is an abnormality in which the control system cannot normally control the motors 21 and 22, such as a failure of a component in the control system or a software error in the microcomputers 11 and 12, for example.

  Each of the motors 21 and 22 is a single winding motor. The motor 21 is driven based on the drive current supplied from the inverter 17 via the relay 19. By driving the motor 21, torque is applied from the motor 21 to the left wheel 2, and the left wheel 2 rotates. The motor 22 is driven based on the drive current supplied from the inverter 18 via the relay 20. By driving the motor 22, torque is applied from the motor 22 to the right wheel 2, and the right wheel 2 rotates.

  The rotation angle sensor 23 detects the rotation angle of the motor 21, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 24 detects the rotation angle of the motor 22, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11.

  Each of the attitude angle sensors 25 and 26 detects and detects the attitude angle of the inverted motorcycle 1 with respect to the front-rear direction when a load is applied to the step plate 3 in the front-rear direction of the inverted motorcycle 1. A posture angle signal indicating the posture angle is output to each of the microcomputers 11 and 12. Each of the attitude angle sensors 25 and 26 is configured to detect the attitude angle of the inverted two-wheeled vehicle 1 using, for example, an acceleration sensor and a gyro sensor.

  Each of the yaw rate sensors 27 and 28 detects the yaw rate of the inverted motorcycle 1, and outputs a yaw rate signal indicating the detected yaw rate to each of the microcomputers 11 and 12. Each of the yaw rate sensors 27 and 28 is configured to detect the yaw rate (angular velocity) of the inverted motorcycle 1 by, for example, a gyro sensor.

  The dynamic brake mechanism 29 applies dynamic braking to the motor 22 in accordance with an output from the microcomputer 11 of a switching instruction signal instructing switching of dynamic brake ON. Further, the dynamic brake mechanism 29 releases the dynamic brake for the motor 22 in accordance with the output from the microcomputer 11 of a switching instruction signal instructing switching of the dynamic brake OFF.

  The dynamic brake mechanism 30 applies dynamic braking to the motor 21 in accordance with an output from the microcomputer 12 of a switching instruction signal that instructs switching of dynamic brake ON. Further, the dynamic brake mechanism 30 releases the dynamic brake for the motor 21 in accordance with the output from the microcomputer 11 of a switching instruction signal for instructing switching of the dynamic brake OFF.

  In the first embodiment, the dynamic brake mechanism 29 or 30 is used to prevent the motor 21 or 22 that is no longer supplied with the drive current by being separated from the control system in which the abnormality has occurred due to the configuration described above. By applying the dynamic brake, the inverted two-wheeled vehicle 1 is controlled so that the straight traveling property of the inverted two-wheeled vehicle 1 is maintained. According to this, while maintaining the straight running stability of the inverted two-wheeled vehicle 1, the inverted two-wheeled vehicle 1 can be stably driven and brought into a stopped state.

  Subsequently, a schematic structure of the inside of the inverted motorcycle 1 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 3 is a diagram showing a schematic structure inside the inverted motorcycle 1 according to the first embodiment of the present invention.

  Each of the motors 21 and 22 is a single winding as described above. Specifically, motor 21 includes a single turn coil 210 and motor 22 includes a single turn coil 220. The motor 21 is driven by a drive current supplied to the coil 210 by the microcomputer 11. The motor 22 is driven by a drive current supplied to the coil 220 by the microcomputer 12. Thus, since the motors 21 and 22 concerning this Embodiment are single winding (single winding), compared with the case where the motor of a multiple winding is used, the inverted motorcycle 1 is compared. Cost can be reduced.

  Next, with reference to FIG. 4, configurations of the relays 19 and 20 and the dynamic brake mechanisms 29 and 30 according to the first embodiment of the present invention will be described. FIG. 4 is a configuration diagram of the relays 19 and 20 and the dynamic brake mechanisms 29 and 30 according to the first embodiment of the invention.

  The relay 19 includes relay switches 101 a to 101 c and a relay driver 103. Hereinafter, the relay switches 101a to 101c are also collectively referred to as relay switches 101.

  Relay switches 101a to 101c are connected to each other so that the inverter 17 and the motor 21 are connected, and the drive current output from the inverter 17 can be supplied to each of the W-phase, V-phase, and U-phase of the motor 21. The switch that can be switched to a non-connected state in which the inverter 17 and the motor are disconnected and the drive current output from the inverter 17 is not supplied to the W-phase, V-phase, and U-phase of the motor 21. It is.

  The relay driver 103 switches the relay switches 101a to 101c in response to a switching instruction signal instructing switching of the relay 19 from the microcomputer 11. Specifically, the microcomputer 11 outputs a switching instruction signal for instructing switching to the connected state to the relay driver 103 before supplying the driving current to the motor 21. The relay driver 103 switches the relay switches 101a to 101c to the connected state in response to an output from the microcomputer 11 of a switching instruction signal that instructs switching to the connected state. Further, when the microcomputer 11 detects an abnormality in the one control system to which the microcomputer 11 belongs, the microcomputer 11 outputs a switching instruction signal for instructing switching to the unconnected state to the relay driver 103. The relay driver 103 switches the relay switches 101a to 101c to the disconnected state in response to an output from the microcomputer 11 of a switching instruction signal for instructing switching to the disconnected state. As a result, the 1-system inverter 17 and the motor 21 are separated, and the motor 21 is in a free state in which no drive current is applied.

  The relay 20 includes relay switches 102 a to 102 c and a relay driver 104. Hereinafter, the relay switches 102a to 102c are also collectively referred to as the relay switch 102.

  Relay switches 102a to 102c connect inverter 18 and motor 22, and are connected to enable driving current output from inverter 18 to be supplied to each of the W-phase, V-phase, and U-phase of motor 22. The switch that can be switched to a non-connected state in which the inverter 18 and the motor are disconnected and the drive current output from the inverter 18 is not supplied to the W-phase, V-phase, and U-phase of the motor 22. It is.

  The relay driver 104 switches the relay switches 102 a to 102 c in response to a switching instruction signal for instructing switching of the relay 20 from the microcomputer 12. Specifically, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the relay driver 104 before supplying the driving current to the motor 22. The relay driver 104 switches the relay switches 102a to 102c to the connected state in accordance with the output from the microcomputer 12 of the switching instruction signal that instructs switching to the connected state. When the microcomputer 12 detects an abnormality in the two control systems to which the microcomputer 12 belongs, the microcomputer 12 outputs a switching instruction signal for instructing switching to the unconnected state to the relay driver 104. The relay driver 104 switches the relay switches 102a to 102c to the disconnected state in response to an output from the microcomputer 12 of a switching instruction signal for instructing switching to the disconnected state. As a result, the two-system inverter 18 and the motor 22 are separated, and the motor 22 enters a free state in which no drive current is applied.

  The dynamic brake mechanism 29 includes a relay 105 and dynamic brake resistors 107a to 107c. Hereinafter, the dynamic brake resistors 107a to 107c are also collectively referred to as a dynamic brake resistor 107.

  In response to a switching instruction signal for instructing switching of the relay 105 from the microcomputer 11, the relay 105 connects a connection state in which the motor 22 and the dynamic brake resistors 107 a to 107 c are connected, and the motor 22 and the dynamic brake resistors 107 a to 107 c. Switch to disconnected state.

  Specifically, when applying a dynamic brake to the motor 22, the microcomputer 11 outputs a switching instruction signal for instructing switching to the connected state to the relay 105. The relay 105 switches to the connected state in accordance with the output from the microcomputer 11 of a switching instruction signal that instructs switching to the connected state. Here, the connection / disconnection of the relay 105 with the side where the relay switches 102a to 102c are switched to the disconnected state is switched. That is, when the relay switches 102a to 102c are switched to the non-connected state, the motor 22 and the dynamic brake resistors 107a to 107c are connected by switching the relay 105 to the connected state, and the dynamic brake is applied to the motor 22. . Further, when releasing the dynamic brake applied to the motor 22, the microcomputer 11 outputs a switching instruction signal for instructing switching to the disconnected state to the relay 105. The relay 105 switches to a non-connected state in response to an output from the microcomputer 11 of a switching instruction signal that instructs switching to the non-connected state.

  The dynamic brake mechanism 30 includes a relay 106 and dynamic brake resistors 108a to 108c. Hereinafter, the dynamic brake resistors 108a to 108c are also collectively referred to as the dynamic brake resistor 108.

  In response to a switching instruction signal for instructing switching of the relay 106 from the microcomputer 12, the relay 106 connects the motor 21 and the dynamic brake resistors 108a to 108c, and the motor 21 and the dynamic brake resistors 108a to 108c. Switch to disconnected state.

  Specifically, when applying a dynamic brake to the motor 21, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the relay 106. The relay 106 switches to the connected state in accordance with the output from the microcomputer 12 of a switching instruction signal that instructs switching to the connected state. Here, the relay 106 is switched between connection / non-connection to the side where the relay switches 101a to 101c are switched to the non-connection state. That is, when the relay switches 101a to 101c are switched to the non-connected state, the motor 21 and the dynamic brake resistors 108a to 108c are connected by switching the relay 106 to the connected state, and the dynamic brake is applied to the motor 21. . Further, when releasing the dynamic brake applied to the motor 21, the microcomputer 12 outputs a switching instruction signal for instructing switching to the disconnected state to the relay 106. The relay 106 switches to the disconnected state in response to an output from the microcomputer 12 of a switching instruction signal that instructs switching to the disconnected state.

  Here, strictly speaking, like the relays 19 and 20, the relays 105 and 106 are three relay switches that connect / disconnect each phase of the motors 21 and 22 and the dynamic brake resistors 108a to 108c, A relay driver for switching those relay switches is provided. Then, the relay driver switches the relay switch according to the switching instruction signal from the microcomputers 11 and 12, thereby switching the connection / disconnection between the motors 21 and 22 and the dynamic brake resistors 107 and 108. Since the operation is the same as that of the relays 19 and 20, detailed description thereof is omitted.

  In the first embodiment, with the configuration described above, the number of rotations of the motor that has become free in response to detection of an abnormality in the control system increases, and the inverted motorcycle 1 rotates around the live motor side. In such a case, the rotation (turning) operation of the inverted two-wheeled vehicle 1 can be suppressed by applying a dynamic brake to the free motor. According to this, in a configuration in which the motor is single-winded in order to reduce the cost, even when the control system is abnormal and degenerates, the inverted two-wheeled vehicle 1 is maintained in the straight running stability and is inverted. The two-wheeled vehicle 1 can be stably driven and brought to a stopped state.

  Then, with reference to FIG. 5, the control process of the inverted two-wheeled vehicle 1 concerning Embodiment 1 of this invention is demonstrated. FIG. 5 is a flowchart showing the control process of the inverted motorcycle 1 according to the first embodiment of the present invention.

  When the microcomputer 11 detects an abnormality in the 1-system control system (S1), it turns off the 1-system relay 19 (S2). Specifically, the microcomputer 11 outputs a switching instruction signal for instructing switching to the connected state to the relay 19. The relay 19 enters a disconnected state in response to an output from the microcomputer 11 of a switching instruction signal that instructs switching to the connected state. That is, in the relay 19, the inverter 17 and the motor 21 are separated. As a result, the motor 21 becomes free.

  The microcomputer 11 outputs notification information for notifying that an abnormality has been detected in the one-system control system to the microcomputer 12. The microcomputer 12 detects that an abnormality has occurred in the one-system control system based on the notification information from the microcomputer 11 (S3).

  The microcomputer 12 applies a dynamic brake to the system 1 motor 21 in response to detection of an abnormality in the system 1 control system (S4). Specifically, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the dynamic brake mechanism 30. The dynamic brake mechanism 30 applies a dynamic brake to the motor 21 in accordance with the output of the switching instruction signal from the microcomputer 12.

  Thereafter, the microcomputer 12 performs control to reduce the vehicle speed of the inverted motorcycle 1 while controlling the ON / OFF of the dynamic brake to control the rotation amount (turning amount) of the inverted motorcycle 1 and the maintenance of the inversion (S5). More detailed processing contents here will be described later with reference to FIG. As a result, when the vehicle speed of the inverted motorcycle 1 has dropped sufficiently, the passenger can get off (S6).

  Next, with reference to FIG. 6, a description will be given of the straight-ahead control process when an abnormality occurs in the inverted motorcycle 1 according to the first embodiment of the present invention. FIG. 6 is a flowchart showing the straight-ahead control process when an abnormality occurs in the inverted motorcycle 1 according to the first embodiment of the present invention. This process corresponds to step S5 as described above. Here, as described above, it is assumed that an abnormality is detected in the one-system control system.

  The microcomputer 12 determines whether the yaw rate indicated by the yaw rate signal output from the yaw rate sensor 28 is higher than a certain value (predetermined threshold value) (S10). As the constant value (threshold value), an arbitrary value may be determined in advance.

  When it determines with a yaw rate being below a fixed value (S10: No), the microcomputer 12 turns off the dynamic brake with respect to the motor 21 (S11). Specifically, the microcomputer 12 outputs a switching instruction signal for instructing switching to the non-connected state to the dynamic brake mechanism 30. The dynamic brake mechanism 30 releases the dynamic brake for the motor 21 by disconnecting the motor 21 and the dynamic brake resistor 108 in response to the output from the microcomputer 12 of the switching instruction signal for instructing switching to the disconnected state.

  If it is determined that the yaw rate is higher than a certain value (S10: Yes), the microcomputer 12 determines which motor side the inverted motorcycle 1 is rotating about (S12).

  If it is determined that the inverted motorcycle 1 is rotating around the free motor 21 side (S12: free motor side), the microcomputer 12 reduces the output of the live motor 22 that is not free ( S13). Specifically, the microcomputer 12 generates a command value so as to reduce the rotation speed of the motor 22 and outputs the command value to the inverter 18. Based on the command value output from the microcomputer 12, the inverter 18 generates a drive current so as to reduce the rotation speed of the motor 22, and supplies the drive current to the motor 22 via the relay 20.

  That is, when the inverted two-wheeled vehicle 1 is rotating around the free motor 21 side, the rotation speed of the free motor 21 is lower than the rotation speed of the live motor 22. On the other hand, according to step S13, since the rotation speed of the motor 22 can be lowered in accordance with the rotation speed of the motor 21, the straight traveling stability of the inverted motorcycle 1 is maintained.

  On the other hand, if it is determined that the inverted two-wheeled vehicle 1 is rotating around the live motor 22 side (S12: live motor side), the microcomputer 12 turns on the dynamic brake for the free motor 21 ( S14). Specifically, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the dynamic brake mechanism 30. The dynamic brake mechanism 30 connects the motor 21 and the dynamic brake resistor 108 in accordance with the output from the microcomputer 12 of a switching instruction signal for instructing switching to the connected state, and applies dynamic braking to the motor 21.

  That is, when the inverted motorcycle 1 is rotating around the live motor 22 side, the rotational speed of the live motor 22 is lower than the rotational speed of the motor 21 that is free. On the other hand, according to step S14, since the rotational speed of the motor 21 can be lowered by the dynamic brake in accordance with the rotational speed of the motor 22, the straight traveling stability of the inverted motorcycle 1 can be maintained.

  In the above-described processing, the case where an abnormality is detected in the 1-system control system is illustrated, but when an abnormality is detected in the 2-system control system, the positions of the microcomputer 11 and the microcomputer 12 are reversed. Since it is obvious that the same processing is performed, the description thereof is omitted.

  As described above, in the first embodiment, since the motors 21 and 22 are single windings, the cost can be reduced. In addition, since components (inverters, relays, rotation angle sensors, etc.) corresponding to the reduced windings can be reduced, the cost can be reduced in that respect.

  Further, in the first embodiment, the live motor 22 is based on the physical quantity (yaw rate) detected by the yaw rate sensor 27 when the supply of drive current to the motor 21 is suppressed from the 1-system control system. When it is determined that the inverted two-wheeled vehicle 1 is turning around the side, the microcomputer 12 makes the dynamic brake in the dynamic brake mechanism 30 effective. According to this, even if it is a case where it is set as the structure which can drive only from any one control system by making the motors 21 and 22 into single volume in order to reduce cost, according to the rotation speed of the motor 22, the motor 21 Therefore, the straight traveling stability of the inverted motorcycle 1 can be maintained. Moreover, since it can implement | achieve by the dynamic brake which is low cost, it does not increase a cost also in that respect.

<Embodiment 2 of the Invention>
Next, a second embodiment of the present invention will be described. The schematic configuration of the inverted motorcycle 1 according to the second embodiment is the same as the schematic configuration of the inverted motorcycle 1 according to the first embodiment described with reference to FIG.

  Next, the configuration of the control device 10 according to the second embodiment of the present invention will be described with reference to FIG. With reference to FIG. 7, it is a block diagram which shows the structure of the control apparatus 10 concerning Embodiment 2 of this invention. Hereinafter, the description of the same contents as those in Embodiment 1 will be omitted as appropriate.

  In the second embodiment, the control device 10 includes safety control relays 31 and 32 instead of the dynamic brake mechanisms 29 and 30.

  The safety control relay 31 outputs the drive current output from the inverter 17 to the motor 22 in response to control from the second-system microcomputer 12 that is performed when an abnormality is detected in the first-system control system. Can be switched to. The safety control relay 32 outputs the drive current output from the inverter 18 to the motor 21 in accordance with the control from the first-system microcomputer 11 that is performed when an abnormality is detected in the second-system control system. Can be switched to.

  In the second embodiment, the safety control relay 31 or 32 is used for the motor 21 or 22 that is no longer supplied with the drive current by being separated from the control system in which an abnormality has occurred. By supplying a drive current from the control system, the inverted motorcycle 1 is controlled so as to maintain the straight traveling performance of the inverted motorcycle 1. According to this, since the motors 21 and 22 are driven at the same rotation speed by the same drive current, the inverted motorcycle 1 is stably run while maintaining the straight traveling stability of the inverted motorcycle 1 and stopped. You can take it.

  In the second embodiment, since the straight traveling stability of the inverted motorcycle 1 is maintained, the control device 10 also has yaw rate sensors 27 and 28 used for determining whether or not a dynamic brake is necessary, as shown in FIG. You may make it not.

  The schematic structure inside the inverted motorcycle 1 according to the second embodiment is the same as the schematic structure inside the inverted motorcycle 1 according to the first embodiment described with reference to FIG.

  Next, the configuration of the relays 19 and 20 and the safety control relays 31 and 32 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 8 is a configuration diagram of the relays 19 and 20 and the safety control relays 31 and 32 according to the second embodiment of the invention. Since the relays 19 and 20 are the same as those in the first embodiment, description thereof is omitted.

  The safety control relay 31 disconnects the motor 22 and the inverter 17 from the connection state in which the motor 22 and the inverter 17 are connected in response to a switching instruction signal instructing switching of the safety control relay 31 from the microcomputer 11. Switch to disconnected state. Specifically, when the microcomputer 11 detects an abnormality in the two control systems, the microcomputer 11 outputs a switching instruction signal for instructing switching to the connected state to the safety control relay 31. The safety control relay 31 switches to the connected state in accordance with the output from the microcomputer 11 of a switching instruction signal that instructs switching to the connected state. As a result, the drive current output from the inverter 17 is also supplied to the motor 22. In addition, when releasing the drive of the motor 22 by the 1-system inverter 17, the microcomputer 11 outputs a switching instruction signal for instructing switching to the disconnected state to the safety control relay 31. The safety control relay 31 is switched to the disconnected state in response to an output from the microcomputer 11 of a switching instruction signal for instructing switching to the disconnected state. As a result, the drive current output from the inverter 17 is not supplied to the motor 22.

  The safety control relay 32 disconnects the motor 21 and the inverter 18 from the connection state in which the motor 21 and the inverter 18 are connected in response to a switching instruction signal instructing switching of the safety control relay 32 from the microcomputer 12. Switch to disconnected state. Specifically, when the microcomputer 12 detects an abnormality in the 1-system control system, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the safety control relay 32. The safety control relay 32 switches to the connected state in accordance with the output from the microcomputer 12 of a switching instruction signal that instructs switching to the connected state. As a result, the drive current output from the inverter 18 is also supplied to the motor 21. Further, when releasing the drive of the motor 21 by the inverter 18, the microcomputer 12 outputs a switching instruction signal for instructing switching to the non-connected state to the safety control relay 32. The safety control relay 32 switches to the disconnected state in response to the output from the microcomputer 12 of a switching instruction signal that instructs switching to the disconnected state. As a result, the drive current output from the inverter 18 is not supplied to the motor 21.

  Here, strictly speaking, the safety control relays 31 and 32 connect / disconnect each phase of the motors 21 and 22 and the output terminal of the drive current for each phase of the inverters 17 and 18, similarly to the relays 19 and 20. And three relay switches and a relay driver for switching the relay switches. Then, the relay driver switches the relay switch according to the switching instruction signal from the microcomputers 11 and 12 to switch the connection / disconnection between the motors 21 and 22 and the inverters 17 and 18. Since this is the same as the operation in the relays 19 and 20, detailed description thereof will be omitted.

  In the second embodiment, the motor 21 or 22 separated from the control system in which the abnormality is detected is connected by the safety control relays 31 and 32 with the normal control system in which the abnormality is not detected. Thus, the motor 21 or 22 corresponding to a normal control system can be driven. According to this, since all the motors 21 and 22 are driven by being supplied with the same drive current, the rotation speeds of the left and right wheels 2 are the same, and the rotating (turning) operation of the inverted motorcycle 1 is performed. Can be deterred. That is, when a failure occurs in the inverted two-wheeled vehicle 1, even if the configuration is reduced in cost, the inverted two-wheeled vehicle 1 is stably driven and brought into a stopped state without reducing the straight running stability of the inverted two-wheeled vehicle 1. Can do.

  Then, with reference to FIG. 9, the control process of the inverted two-wheeled vehicle 1 concerning Embodiment 2 of this invention is demonstrated. FIG. 9 is a flowchart showing a control process of the inverted motorcycle 1 according to the second embodiment of the present invention. Note that the same processing steps as the processing steps of the control processing in the first embodiment described with reference to FIG. 5 are denoted by the same reference numerals, and description thereof is omitted.

  Here, a case where the microcomputer 11 detects an abnormality in the 1-system control system will be described. When the microcomputer 12 detects an abnormality in the 1-system control system (S1 to S3), the microcomputer 12 can transmit the output from the 2-system inverter 18 to the motor 21 corresponding to the 1-system control system. Then, the safety control relay 32 is switched (S7). Specifically, the microcomputer 12 outputs a switching instruction signal for instructing switching to the connected state to the safety control relay 32. The safety control relay 32 switches to the connected state in accordance with the output from the microcomputer 11 of a switching instruction signal that instructs switching to the connected state. As a result, the drive current output from the two-system inverter 18 is output to the motor 21 together with the motor 22.

  The microcomputer 12 controls the motors 21 and 22 to reduce the vehicle speed of the inverted motorcycle 1 while maintaining the inverted motorcycle 1 upside down (S8). At this time, the inverter 18 supplies the same drive current to the motors 21 and 22 in accordance with the command value from the microcomputer 12 so that the inverted motorcycle 1 is controlled to be inverted. Therefore, the motors 21 and 22 are driven so as to have the same rotational speed. Therefore, the rotation speeds of the left and right wheels 2 rotated by the motors 21 and 22 are the same, and the straight traveling stability of the inverted motorcycle 1 is maintained. As a result, when the vehicle speed of the inverted motorcycle 1 has dropped sufficiently, the passenger can get off (S6).

  Here, in the above configuration, if a failure of the 1-system microcomputer 11 occurs as an abnormality in the 1-system control system, the microcomputer 11 cannot notify the microcomputer 12 of the 1-system control system abnormality. End up. In this case, the microcomputer 12 will not be able to switch the safety control relay 32 according to the detection of abnormality (S3) in the first control system.

  In order to avoid such a situation, the configuration related to the safety control relays 31 and 32 of the control device 10 may be configured as shown in FIG. That is, the control device 10 includes the monitoring device 109.

  The monitoring device 109 is a circuit that functions as a watchdog timer and detects an abnormality of the microcomputers 11 and 12. When the monitoring device 109 detects an abnormality in the microcomputer 11 or 12, the monitoring device 109 switches the relay 19 or 20 of the control system so as to separate the control system in which the abnormality is detected from the motor 21 or 22. When the monitoring device 109 detects an abnormality in the microcomputer 11 or 12, the output of the inverter 17 or 18 of the control system to which the microcomputer 11 or 12 to which no abnormality is detected belongs is transmitted to both the motors 21 and 22. Thus, the safety control relay 31 or 32 is switched.

  Specifically, the microcomputers 11 and 12 output a signal notifying survival to the monitoring device 109 at predetermined time intervals. The monitoring device 109 monitors whether or not signal output from the microcomputers 11 and 12 is continued. For example, the monitoring device 109 does not output a signal from the microcomputer 11 for a predetermined time (a time larger than the predetermined time interval) and does not continue to output a signal from the microcomputer 11. If it is determined, it is determined that an abnormality has occurred in the microcomputer 11.

  In that case, the monitoring device 109 outputs a switching instruction signal instructing switching to the disconnected state to the relay 19 of the control system to which the microcomputer 11 belongs. The relay 19 is switched to a disconnected state in response to the switching instruction signal. In addition, the monitoring device 109 outputs a switching instruction signal for instructing switching to the connected state to the safety control relay 32. The safety control relay 32 switches to the connected state in response to the switching instruction signal.

  As a result, the drive current output from the two-system inverter 18 is output to the motor 21 together with the motor 22. When the monitoring device 109 detects an abnormality in the microcomputer 12, the monitoring device 109 outputs a switching instruction signal for instructing switching to the non-connected state to the relay 20, and safely outputs the switching instruction signal for instructing switching to the connected state. This is output to the control relay 31.

  As described above, with such a configuration, even if an abnormality that disables the operation of the 1-system microcomputer 11 occurs, the switching of the safety control relay 32 is switched to enable the 2-system. It is possible to drive the motor 21 on the 1-system side from the microcomputer 12 to reduce the vehicle speed of the inverted motorcycle 1 while maintaining the straight running stability of the inverted motorcycle 1.

  In the above description, the case where an abnormality is detected in the 1-system control system is illustrated. However, when an abnormality is detected in the 2-system control system, the microcomputer 11 and the microcomputer 12 are in a reversed state. Since it is obvious that the same processing is performed, the description thereof is omitted.

  As described above, in the second embodiment, when the supply of drive current to the motor 21 from the first control system is suppressed, the drive current from the second control system is also supplied to the motor 21. In addition, the safety control relay 32 is switched. According to this, even when the motors 21 and 22 are configured as a single winding to reduce the cost and can be driven only from one of the control systems, the control system in which an abnormality has occurred is degenerated. Since the drive current of the normal control system can be supplied to both the motors 21 and 22 and driven at the same rotation speed, the straight traveling stability of the inverted motorcycle 1 can be maintained. Moreover, since it can be realized by a low-cost relay, the cost is not increased in this respect as well.

<Third Embodiment of the Invention>
Subsequently, Embodiment 3 of the present invention will be described. The schematic configuration of the inverted motorcycle 1 according to the third embodiment is the same as the schematic configuration of the inverted motorcycle 1 according to the first embodiment described with reference to FIG.

  Then, with reference to FIG. 11, the structure of the control apparatus 10 concerning Embodiment 3 of this invention is demonstrated. With reference to FIG. 11, it is a block diagram which shows the structure of the control apparatus 10 concerning Embodiment 3 of this invention. Hereinafter, the description of the same contents as those in Embodiment 1 will be omitted as appropriate.

  In the third embodiment, as will be described later, by using the differential suppression device, the straight traveling stability of the inverted two-wheeled vehicle 1 is maintained. Therefore, as shown in FIG. 11, the control device 10 according to the third embodiment is used to determine whether the dynamic brake mechanisms 29 and 30 and the dynamic brake are necessary, as compared with the control device 10 according to the first embodiment. The yaw rate sensors 27 and 28 to be used can be omitted. In addition, as shown in FIG. 11, the control device 10 according to the third embodiment may have no safety control relays 31 and 32 as compared with the control device 10 according to the second embodiment. it can.

  Then, with reference to FIG. 12, schematic structure inside the inverted two-wheeled vehicle 1 concerning Embodiment 3 of this invention is demonstrated. FIG. 12 is a diagram showing a schematic structure inside the inverted motorcycle 1 according to the third embodiment of the present invention.

  In the third embodiment, as shown in FIG. 12, the output shaft of the motor 21 and the output shaft of the motor 22 are connected to a differential suppression device (“differential limiting device” or “LSD (Limited Slip Differential)”. It is connected by 40). The differential suppression device 40 transmits a larger torque as the rotational difference (difference in rotational speed) between the left and right motors 21 and 22 (the left and right wheels 2) increases.

  As the differential suppression device 40, for example, a viscous coupling or a centrifugal clutch may be used. That is, when a viscous coupling is used as the differential suppression device 40, when the rotational difference between the left and right motors 21 and 22 increases, the output shaft of the motor having a large number of rotations is caused by the viscous resistance of the viscous fluid in the viscous coupling. Thus, torque is transmitted to the output shaft of the motor whose rotational speed is smaller than that of the motor. Further, when a centrifugal clutch is used as the differential suppressing device 40, when the rotational speed of one of the motors 21 or 22 is increased, the centrifugal clutch is connected by a centrifugal force generated thereby. As a result, torque is transmitted from the output shaft of the motor having a higher rotational speed to the output shaft of the motor having a lower rotational speed than that motor.

  According to the inverted maintenance characteristics of the inverted motorcycle 1, normally, as shown in FIG. 13A, there is not much rotational difference between the output shafts of the left and right motors 21 and 22. However, when an abnormality occurs in the control system and the motor 21 or 22 corresponding to the control system is set free, the motor 21 or 22 is not driven, so the output shafts of the left and right motors 21 and 22 are output. A rotation difference will occur between the two. In this case, according to the configuration of the third embodiment described above, as shown in FIG. 13B, the insufficient torque in the free motor 21 or 22 is transmitted by the differential suppression device 40, and the rotation difference is calculated. Can be reduced. That is, it is possible to eliminate the rotational difference between the left and right wheels 2 and maintain the straight traveling stability of the inverted motorcycle 1.

  Further, according to the above-described configuration, even if the motor 21 or 22 itself fails and cannot be driven, the normal output shaft of the motor 21 or 22 is changed from the failed motor 22 or 21 output shaft. Thus, torque can be transmitted to reduce the rotation difference. Therefore, it is possible to maintain the straight running stability of the inverted two-wheeled vehicle 1 so that the inverted two-wheeled vehicle 1 can travel stably and be brought into a stopped state.

  Then, with reference to FIG. 14, the control process of the inverted two-wheeled vehicle 1 concerning Embodiment 3 of this invention is demonstrated. FIG. 14 is a flowchart showing a control process of the inverted motorcycle 1 according to the third embodiment of the present invention. Note that the same processing steps as the processing steps of the control processing in the first and second embodiments described with reference to FIGS. 5 and 9 are denoted by the same reference numerals, and description thereof is omitted.

  In the third embodiment, as described above, the differential suppression device 40 absorbs the rotational difference between the output shafts of the left and right motors 21 and 22. Therefore, even if an abnormality occurs in the 1-system or 2-system control system, the microcomputer 11 or 12 detects the abnormality in the other control system (see FIG. 14) without being aware of it. In accordance with S3), the motor 21 or 22 is driven to control the maintenance of the inverted position, and the vehicle speed is decreased (S8), so that the inverted motorcycle 1 is stably driven while maintaining the straight traveling stability of the inverted motorcycle 1. Can be brought to a stop state (S6). That is, the processing shown in step S5 in the first embodiment and step S7 in the second embodiment is not necessary.

  As described above, in the third embodiment, the output shaft of the motor 21 driven by the first control system and the output shaft of the motor driven by the second control system are connected by the differential suppression device. I try to connect them. According to this, even if it is a case where it is a case where it is set as the structure which can drive only from any one control system by making the motors 21 and 22 into a single volume in order to reduce cost, the motors 21 and 22 which rotate the left and right wheels 2 are used. Thus, the rotation difference between the left and right wheels 2 can be eliminated and the straight traveling stability of the inverted two-wheeled vehicle 1 can be maintained.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the first embodiment, the two yaw rate sensors 27 and 28 are provided so as to correspond to the respective control systems, but the number of yaw rate sensors is not limited to this. For example, only one yaw rate sensor may be provided, and both the microcomputers 11 and 12 may determine the yaw rate of the inverted motorcycle 1 based on the yaw rate signal from the yaw rate sensor. However, preferably, as described above, by providing the two yaw rate sensors 27 and 28 so as to correspond to the respective control systems, it is possible to prevent failure in the case where one of the yaw rate sensors 27 and 28 fails. Can be improved.

  In the first embodiment, the determination as to whether or not the inverted motorcycle 1 is rotating (turning) is detected based on the yaw rate. However, the determination material is the rotation (turning) operation of the inverted motorcycle 1. As long as it is a physical quantity that changes according to the above, it is not limited to the yaw rate. For example, each of the microcomputers 11 and 12 acquires rotation angle signals from both of the rotation angle sensors 23 and 24 so that the rotation angles of both the motors 21 and 22 detected by the rotation angle sensors 23 and 24 are obtained. Based on this, it may be determined whether or not the inverted motorcycle 1 is rotating (turning).

  In the first and second embodiments, the microcomputer 11 or 12 detects an abnormality in the control system to which the microcomputer 11 or 12 belongs, and notifies the microcomputer 12 or 11 of the other control system. Not limited to this. The microcomputers 11 and 12 may control the dynamic brake mechanisms 29 and 30 or the safety control relays 31 and 32 by directly detecting an abnormality in the other control system. For example, when signals are periodically transmitted and received between the microcomputer 11 and the microcomputer 12 and the signal from the other microcomputer 11 or 12 is interrupted, there is an abnormality in the other microcomputer 11 or 12 (control system). You may make it judge that it generate | occur | produced.

1 Inverted motorcycle 2 Wheel 3 Step plate 10 Controller 11, 12 Microcomputer 13, 14 DCDC converter 15, 16 Battery 17, 18 Inverter 19, 20 Relay 21, 22 Motor 23, 24 Rotation angle sensor 25, 26 Attitude angle sensor 27, 28 Yaw rate sensor 29, 30 Dynamic brake mechanism 13, 32 Safety control relay 40 Differential suppression device 101, 101a, 101b, 101c, 102, 102a, 102b, 102c Relay switch 103, 104 Relay driver 105, 106 Relay 107, 107a, 107b, 107c, 108, 108a, 108b, 108c Dynamic brake resistance 109 Monitoring device 210, 220 Coil 400 Inverted motorcycle 401, 402 Microcomputer 403, 404 Inverters 405, 40 6 Relay 407, 408 Motor 409, 410 Rotation angle sensor 411, 412 Attitude angle sensor

Claims (4)

Single-winding first and second motors that rotate each of the two wheels, and a first control system and a second for supplying a drive current to each of the first and second motors An inverted motorcycle equipped with a control system of
A first relay for switching whether or not to supply drive current from the first control system to the first motor;
A second relay for switching whether to supply the drive current from the second control system to the first motor together with the second motor;
A first control unit that switches the first relay so that supply of drive current from the first control system to the first motor is inhibited when an abnormality is detected in the first control system. When,
A second control unit that switches the second relay so that the drive current from the second control system is also supplied to the first motor when an abnormality is detected in the first control system. When,
An inverted motorcycle equipped with The first control system functions as the first control unit, and includes a first microcomputer that notifies the detection of an abnormality when an abnormality is detected in the first control system,
The second control system includes a second microcomputer that functions as the second control unit and switches the first relay in response to a notification of detection of an abnormality from the first microcomputer.
The inverted motorcycle according to claim 1. The inverted motorcycle further includes a monitoring unit that monitors a watchdog of the first microcomputer,
When the monitoring unit detects an abnormality in the first microcomputer by the watchdog monitoring, the second relay is configured to supply the driving current from the second control system to the first motor. Switch
The inverted motorcycle according to claim 2. Single-winding first and second motors that rotate each of the two wheels, and a first control system and a second for supplying a drive current to each of the first and second motors A control method for an inverted motorcycle equipped with a control system of
When an abnormality is detected in the first control system, the first control system and the first motor are controlled so as to suppress the supply of drive current from the first control system to the first motor. Switching to a disconnected state between
The connection between the second control system and the first motor is switched so that the drive current from the second control system is supplied to the first motor together with the second motor. Steps,
Control method with.

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