JP5983457B2 - Inverted motorcycle and control method thereof - Google Patents

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 by servo control.

  As disclosed in Patent Document 1, a vehicle for carrying a person has been studied. The personal transport vehicle disclosed in Patent Document 1 performs feedback control by calculating the rotational speed of a shaft by a differentiator from a position signal provided by a shaft feedback sensor.

Japanese Patent No. 4162959

  The applicant of the present application has found the problems described below in servo control (feedback control) of an inverted two-wheeled vehicle that travels with the passenger on board. The problem will be described with reference to FIGS. In addition, the content demonstrated below is the content which the applicant of this application examined newly, and does not demonstrate a prior art.

  As shown in FIG. 11, in servo control, a command value for controlling a control target is determined based on a deviation between the output value from the current control target obtained from the sensor value detected by the sensor and the target value of the output value. decide. In an inverted motorcycle, a motor for rotating the wheel is a control target, and the motor is controlled so that the output value approaches the target value based on the deviation between the output value from the motor and the target value of the output value. By doing so, the inverted state of the inverted motorcycle can be maintained. However, if the sensor fails and the correct sensor value cannot be obtained, the correct output value cannot be obtained from the sensor value, so the command value determined based on the deviation between the output value and the target value cannot be obtained. Regardless of the output, the control is not stable. Therefore, in servo control, it is important to quickly detect and respond to sensor failures.

  Here, as a technique for detecting a sensor failure, the deviation between the target value and the output value is observed, and when the deviation exceeds a certain threshold value and the deviation between the target value and the output value occurs, A method for determining that a failure has occurred can be considered.

  However, in this method, as shown in FIG. 12, when the sensor does not fail but the output value becomes large due to disturbance, the threshold value is increased in order to prevent erroneous detection as a sensor failure. Therefore, there is a problem that the high speed until the failure is detected is lacking.

  The present invention has been made based on the above-described knowledge, and an object thereof is to provide an inverted two-wheeled vehicle and a control method thereof that can detect sensor abnormality at higher speed in servo control.

  An inverted two-wheeled vehicle according to a first aspect of the present invention is an inverted two-wheeled vehicle that moves by rotating a wheel, and a motor that rotates the wheel, and a first sensor that detects a predetermined physical quantity in the motor as a sensor value. Based on a first deviation which is a deviation between a second sensor, a first output value of the motor based on a sensor value detected by the first sensor, and a target value of the first output value, A control unit that controls the inverted motorcycle by servo-controlling the motor, and the control unit is configured to control the second deviation of the motor based on the first deviation and a sensor value detected by the second sensor. When it is determined that the magnitude of the deviation between the output value of the second output value and the second deviation, which is the deviation between the target value of the second output value, is greater than or equal to a predetermined threshold, the first sensor or the second As a control according to the abnormality of the sensor It is intended to implement a defined abnormality control.

  The control method according to the second aspect of the present invention includes a first output value of a motor based on a sensor value acquired from a first sensor that detects a predetermined physical quantity in the motor as a sensor value, and the first output value. A method for controlling an inverted motorcycle that moves by rotating a wheel by servo-controlling the motor based on a first deviation that is a deviation from a target value of the motor, the first sensor in the motor detecting The second sensor detects a sensor value from a second sensor that detects a physical quantity of the same type as the physical quantity to be detected as a sensor value, the first deviation, and the sensor value obtained from the second sensor. It was determined that the magnitude of the deviation between the second output value of the motor based on the detected sensor value and the second deviation, which is the deviation between the target value of the second output value, is equal to or greater than a predetermined threshold value. Before And performing a predetermined abnormality control as abnormally control corresponding to the first sensor or the second sensor, but equipped with.

  In each aspect of the present invention described above, the second sensor detects the same physical quantity as the sensor value detected by the first sensor in the motor. Therefore, the influence of the disturbance on the motor is reflected in the sensor value of the first sensor and the sensor value of the second sensor in the same manner. Therefore, if the first sensor and the second sensor are normal, the disturbance Regardless of whether or not there is, the first deviation based on the sensor value of the first sensor and the second deviation based on the sensor value of the second sensor are always substantially the same value. That is, the deviation between the first deviation and the second deviation is always a very small value. Therefore, according to each aspect of the present invention described above, even if the threshold for the deviation between the first deviation and the second deviation is set to a small value, a sensor abnormality is not erroneously detected due to a disturbance. Thus, it is possible to detect an increase in the deviation between the first deviation and the second deviation due to a sensor abnormality at high speed.

  That is, according to each aspect of the present invention described above, it is possible to provide an inverted two-wheeled vehicle that can detect sensor abnormality at higher speed in servo control and a control method therefor.

1 is a diagram illustrating a schematic configuration of an inverted motorcycle according to Embodiment 1. FIG. 2 is a block diagram illustrating a configuration of a control device according to Embodiment 1. FIG. 4 is a diagram illustrating a connection relationship between a CPU and a servo motor according to Embodiment 1. FIG. 4 is a diagram illustrating a servo control model according to Embodiment 1. FIG. It is a figure which shows an example of the relationship between the target value and present value in CPU of 0 system. It is a figure which shows an example of the relationship between the target value in 1st CPU, and a present value. It is a figure which shows an example of the deviation of the deviation of 0 system, and the deviation of 1 system. 3 is a flowchart showing a failure diagnosis process by the control device according to the first embodiment. 3 is a flowchart showing a failure diagnosis process by the control device according to the first embodiment. 6 is a block diagram illustrating a configuration of a control device according to Embodiment 2. FIG. It is a figure which shows the connection relation of CPU and servomotor which concern on Embodiment 2. FIG. 10 is a flowchart showing a failure diagnosis process by the control device according to the second embodiment. It is a figure which shows an example of the model of servo control. It is a figure which shows an example of the relationship between a target value and an output value.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. Specific numerical values and the like shown in the following embodiments are merely examples for facilitating understanding of the invention, and are not limited thereto unless otherwise specified. In the following description and drawings, matters obvious to those skilled in the art are omitted or simplified as appropriate for the sake of clarity.

  Hereinafter, in the first embodiment, an example in which torque servo control is performed as servo control will be described, and in the second embodiment, an example in which speed servo control will be performed as servo control will be described.

<Embodiment 1 of the Invention>
With reference to FIG. 1, a schematic configuration of an inverted motorcycle 1 according to the first embodiment will be described. FIG. 1 is a diagram illustrating a schematic configuration of an inverted motorcycle 1 according to the first embodiment.

  The inverted two-wheeled vehicle 1 has a posture angle (pitch angle) of the inverted two-wheeled vehicle 1 in the front-rear direction when a passenger who holds the handle 4 and gets on the step cover 3 applies a load in the front-rear direction of the inverted two-wheeled vehicle 1. Is detected using a sensor, and the motor that drives the left and right wheels 2 is controlled so as to maintain the inverted state of the inverted motorcycle 1 based on the detection result. That is, the inverted motorcycle 1 accelerates forward so that the inverted motorcycle 1 maintains the inverted state when the passenger who has boarded the step cover 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.

  Next, the configuration of the control device 10 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram illustrating a configuration of the control device 10 according to the first embodiment.

  The control device 10 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputer”), inverters 13 to 16, motors 17 and 18, torque sensors 19 to 22, and gyro sensors 23 and 24. The torque sensors 19 to 22 may use a strain gauge that directly measures torque, may measure motor current, and may jointly measure torque.

  The control device 10 is a dual system in which the control system is duplicated into a 0-system control system and a 1-system control system in order to ensure the stability of the control of the inverted motorcycle 1. The 0-system control system includes a microcomputer 11, inverters 13 and 14, torque sensors 19 and 20, and a gyro sensor 23. The 1-system control system includes a microcomputer 12, inverters 15 and 16, torque sensors 21 and 22, and a gyro sensor 24.

  Each of the microcomputers 11 and 12 is based on an angular velocity signal output from each of the gyro sensors 23 and 24, and as described above, an ECU that controls the motors 17 and 18 so as to maintain the inverted state of the inverted motorcycle 1 ( Electronic Control Unit). 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.

  The microcomputer 11 outputs a command value for controlling the motor 17 to the inverter 13. Further, the microcomputer 11 outputs a command value for controlling the motor 18 to the inverter 14. The microcomputer 12 outputs a command value for controlling the motor 17 to the inverter 15. Further, the microcomputer 12 outputs a command value for controlling the motor 18 to the inverter 16. Specifically, each of the microcomputers 11 and 12 integrates angular velocities (pitch angular velocities) around the pitch axis of the inverted motorcycle 1 indicated by the angular velocity signals output from the gyro sensors 23 and 24, respectively. A posture angle (pitch angle) in the front-rear direction is calculated, and a command value for controlling the motors 17 and 18 is generated so as to maintain the inverted state of the inverted motorcycle 1 based on the calculated posture angle.

  Here, the control device 10 detects the posture angle (pitch angle) in the front-rear direction of the inverted two-wheeled vehicle 1 instead of the gyro sensors 23 and 24, and sends posture angle signals indicating the detected posture angles to the microcomputers 11 and 12, respectively. You may make it have the attitude | position angle sensor to output. The posture angle sensor is configured to detect the posture angle of the inverted motorcycle 1 by, for example, an acceleration sensor and a gyro sensor. Each of the microcomputers 11 and 12 generates a command value for controlling the motors 17 and 18 so as to maintain the inverted state of the inverted motorcycle 1 based on the attitude angle indicated by the attitude angle signal output from the attitude angle sensor. You may make it do.

  Further, each of the microcomputers 11 and 12 includes an inverter 13 and a servo control (feedback control) of the motor 17 based on a torque signal output from each of the torque sensors 19 and 21 and indicating the torque of the motor 17. A command value for each of 15 is generated. Further, each of the microcomputers 11 and 12 includes an inverter 14 and a servo control (feedback control) of the motor 18 based on a torque signal output from each of the torque sensors 20 and 22 and indicating the torque of the motor 18. A command value for each of 16 is generated.

  The inverter 13 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 17 and supplying the drive current to the motor 17. The inverter 14 performs PWM control based on the command value output from the microcomputer 11, thereby generating a drive current for driving the motor 18 and supplying the drive current to the motor 18. The inverter 15 performs a PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for driving the motor 17 and supplying the drive current to the motor 17. The inverter 16 performs a PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for driving the motor 18 and supplying the drive current to the motor 18.

  Each of the motors 17 and 18 is a double winding motor. The motor 17 is driven based on the drive current supplied from the inverter 13 and the drive current supplied from the inverter 15. By driving the motor 17, the left wheel 2 of the inverted motorcycle 1 rotates. The motor 18 is driven based on the drive current supplied from the inverter 14 and the drive current supplied from the inverter 16. By driving the motor 18, the right wheel 2 of the inverted motorcycle 1 rotates.

  The torque sensor 19 detects the torque of the motor 17, generates a torque signal indicating the detected torque, and outputs it to the microcomputer 11. The torque sensor 20 detects the torque of the motor 18, generates a torque signal indicating the detected torque, and outputs it to the microcomputer 11. The torque sensor 21 detects the torque of the motor 17, generates a torque signal indicating the detected torque, and outputs it to the microcomputer 12. The torque sensor 22 detects the torque of the motor 18, generates a torque signal indicating the detected torque, and outputs the torque signal to the microcomputer 12.

  Each of the gyro sensors 23 and 24 has an angular velocity (an angular velocity around the pitch axis, a pitch when the passenger applies a load to the step cover 3 in the front-rear direction of the inverted motorcycle 1 with respect to the front-rear direction of the inverted motorcycle 1. Angular velocity) is detected, and angular velocity signals indicating the detected angular velocities are output to the microcomputers 11 and 12, respectively.

  Subsequently, the failure diagnosis method according to the first embodiment will be described with reference to FIGS. FIG. 3 is a diagram illustrating a connection relationship between the CPUs 110 and 120 and the servo motors 170 and 180 according to the first embodiment. FIG. 4 is a diagram illustrating a servo control model according to the first embodiment.

  As illustrated in FIG. 3, each of the microcomputers 11 and 12 includes the CPUs 110 and 120 that execute various processes related to the control of the inverted motorcycle 1 as described above. The control device 10 includes an inter-CPU communication path 200 that connects the CPU 110 and the CPU 120. The CPU 110 and the CPU 120 perform the inverted control of the inverted motorcycle 1 while transmitting and receiving information to and from each other via the inter-CPU communication path 200. The control device 10 includes a motor 17 and torque sensors 19 and 21 as a servo motor 170, and includes a motor 18 and torque sensors 20 and 22 as a servo motor 180.

  Hereinafter, an outline of the failure diagnosis method will be described by giving an example of diagnosing a failure of the torque sensors 19 and 21 that detect the torque of the left motor 17. Each of the 0-system CPU 110 and the 1-system CPU 120 performs servo control of the motor 17 and failure diagnosis of the torque sensors 19, 21 as in the model shown in FIG.

  The 0-system CPU 110 acquires the torque signal output from the torque sensor 19 at predetermined time intervals. The CPU 110 calculates a deviation between the target value of the torque of the left motor 17 and the torque of the left motor 17 indicated by the acquired torque signal by the following equation (1). The CPU 110 calculates a command value for the left motor 17 by PID control using the calculated deviation and outputs it to the inverter 13. At this time, the CPU 110 outputs deviation information indicating the calculated deviation to the CPU 120 of the other system via the inter-CPU communication path 200.

  Similarly, the 1-system CPU 120 acquires the torque signal output from the torque sensor 21 at predetermined time intervals. The CPU 120 calculates a deviation between the target value of the torque of the left motor 17 and the torque of the left motor 17 indicated by the acquired torque signal by the following equation (1). The CPU 110 calculates a command value for the left motor 17 by PID control using the calculated deviation and outputs it to the inverter 15. At this time, the CPU 110 outputs deviation information indicating the calculated deviation to the CPU 120 of the other system via the inter-CPU communication path 200.

  That is, in the first embodiment, the torque indicated by the torque signals from the torque sensors 19 to 22 is handled as the output value from the motors 17 and 18 that are the control targets.

Deviation = Target value-Current value (Current output value) (1)

  Then, the CPU 110 calculates a deviation between the deviation calculated by itself (deviation of the 0 system) and the deviation indicated by the deviation information output from the CPU 120 of the other system (deviation of the 1 system) by the following equation (2). To do. CPU110 determines with the torque sensor 19 or the torque sensor 21 having failed, when the magnitude | size of the calculated "deviation deviation" becomes more than a predetermined threshold value.

  Similarly, the CPU 120 calculates the deviation between the deviation calculated by itself (deviation of the 1 system) and the deviation indicated by the deviation information output from the CPU 110 of the other system (deviation of the 0 system) by the following equation (2). calculate. The CPU 120 determines that the torque sensor 19 or the torque sensor 21 is out of order when the calculated “deviation deviation” is equal to or greater than a predetermined threshold.

  Whether or not the magnitude of the “deviation deviation” is equal to or greater than a predetermined threshold is determined based on whether or not the deviation deviation is equal to or greater than a predetermined upper limit threshold or equal to or less than a predetermined lower limit threshold. Alternatively, the determination may be made based on whether or not the absolute value of “deviation deviation” is equal to or greater than a predetermined threshold. Further, the “deviation deviation” is not limited to the one obtained by subtracting the one-system deviation from the zero-system deviation as shown in the equation (2), but may be the one obtained by subtracting the zero-system deviation from the one-system deviation. Good.

Deviation deviation = Deviation of system 0-Deviation of system 1 (2)

  With reference to FIGS. 5A to 5C, the high speed of failure detection in the above failure diagnosis method will be described. FIG. 5A is a diagram illustrating an example of a relationship between a target value and a current value (torque detected by the torque sensor 19) in the 0-system CPU 110. FIG. 5B is a diagram illustrating an example of a relationship between a target value and a current value (torque detected by the torque sensor 21) in the 1-system CPU 120.

  As shown in FIGS. 5A and 5B, when a torque disturbance is applied to the left motor 17, the torque is detected by both the torque sensor 19 and the torque sensor 21. That is, when the torque sensor 19 and the torque sensor 21 are operating normally, the torque sensor 19 and the torque sensor 21 are almost the same regardless of whether or not the torque disturbance is applied to the left motor 17. The same torque is detected, and the deviations calculated by the CPU 110 and the CPU 120 are also substantially the same. Therefore, the above “deviation deviation” always takes a very small value.

  On the other hand, when at least one of the torque sensor 19 and the torque sensor 21 fails and the torque cannot be normally detected, different torques are detected by the torque sensor 19 and the torque sensor 21, The deviations calculated by the CPU 110 and the CPU 120 are also different. Therefore, the above “deviation deviation” also takes a large value.

  As described above, if the torque sensors 19 and 21 are normal, the deviation of the 0 system and the deviation of the 1 system are almost the same value. Therefore, the “deviation deviation” is the difference between the deviation and the deviation in the calculation process. By subtracting, the deviation of the torque disturbance is canceled out and always takes a very small value. On the other hand, when the torque sensors 19 and 21 fail to detect normal torque, the deviation of the 0 system and the deviation of the 1 system become completely different values. The “deviation deviation” takes a large value in the positive or negative direction.

  Therefore, according to the failure diagnosis method in the first embodiment, as shown in FIG. 5C, even if the threshold value for the “deviation deviation” is set to a very small value, the failure of the torque sensors 19 and 21 is erroneously affected by the disturbance. It will not be detected. Since the threshold value can be set to a very small value, it is possible to detect a failure of the torque sensors 19 and 21 due to the “deviation deviation” exceeding the threshold value at high speed.

  The above-described failure diagnosis is performed for the right motor 18 as well, but the description thereof is omitted because it is the same as the failure diagnosis method for the left motor 17 described above. That is, in this case, the 0-system CPU 110 calculates the deviation between the target value of the torque of the right motor 18 and the torque of the right motor 18 indicated by the torque information output from the torque sensor 20 as the 0-system deviation. become. Further, the 1-system CPU 120 calculates a deviation between the target value of the torque of the right motor 18 and the torque of the right motor 18 indicated by the torque information output from the torque sensor 22 as the 1-system deviation.

  Subsequently, a failure diagnosis process performed by the control device 10 according to the first embodiment will be described with reference to FIGS. 6 and 7. 6 and 7 are flowcharts illustrating a failure diagnosis process performed by the control device 10 according to the first embodiment.

  Here, the CPU 110 and 120 will be described by taking as an example a failure diagnosis process related to the torque sensors 19 and 21 for detecting the torque of the left motor 17, but as described above, the torque sensor 20 for detecting the torque of the right motor 18; Similarly, it is possible to carry out the fault diagnosis process in parallel with respect to No. 22. First, a description will be given with reference to FIG.

  Each of the 0-system CPU 110 and the 1-system CPU 120 calculates a deviation of the 0-system deviation and the 1-system deviation at predetermined time intervals (S1). Specifically, the 0-system CPU 110 calculates the deviation between the torque target value of the left motor 17 and the torque of the left motor 17 indicated by the torque signal output from the torque sensor 19 as the 0-system deviation. The deviation information indicating the deviation is output to the 1-system CPU 120. The first system CPU 120 calculates the deviation between the target value of the torque of the left motor 17 and the torque of the left motor 17 indicated by the torque signal output from the torque sensor 21 as the first system deviation, and indicates the deviation. Deviation information is output to the 0-system CPU 110. Then, the 0-system CPU 110 calculates a deviation between the calculated 0-system deviation and the 1-system deviation indicated by the deviation information output from the 1-system CPU 120. The 1-system CPU 120 calculates a deviation between the calculated 1-system deviation and the 0-system deviation indicated by the deviation information output from the 0-system CPU 110.

  In the failure diagnosis process related to the torque sensors 20 and 22 corresponding to the right motor 18, the CPU 110 detects the right value indicated by the target value of the torque for the right motor 18 and the torque signal output from the torque sensor 20 as the zero system deviation. The deviation from the torque of the motor 18 is calculated. Further, the CPU 120 calculates the deviation between the target value of the torque for the right motor 18 and the torque of the right motor 18 indicated by the torque signal output from the torque sensor 22 as the one-system deviation.

  Each of the CPUs 110 and 120 determines whether the calculated “deviation deviation” is equal to or greater than a predetermined threshold (S2).

  When each of the CPUs 110 and 120 determines that the magnitude of the “deviation deviation” is less than a predetermined threshold (S2: No), it estimates that the torque is a disturbance even if the deviation is large, Control according to the amount of deviation is performed (S3). The process of step S3 will be described later with reference to FIG.

  When each of the CPUs 110 and 120 determines that the magnitude of the “deviation deviation” is equal to or greater than a predetermined threshold (S2: Yes), the CPU 110 and 120 determine whether or not the 0-system deviation is larger than the 1-system deviation. (S4).

  When each of the CPUs 110 and 120 determines that the deviation of the 0 system is not larger than the deviation of the 1 system (the deviation of the 0 system is equal to or less than the deviation of the 1 system) (S4: No), the 1 system torque sensor 21 Is determined to be malfunctioning. In this case, each of the CPUs 110 and 120 disconnects the servo motor 170 to which the 1-system torque sensor 21 belongs, and continues the control of the inverted motorcycle 1 (S5). Specifically, each of the CPUs 110 and 120 continues the control of the inverted motorcycle 1 by servo-controlling only the servo motor 180 (right motor 18) of the servo motor 170 and the servo motor 180.

  In addition, each of the CPUs 110 and 120 may disconnect only the torque sensor 21 determined to be defective without disconnecting the entire servo motor 170 to which the torque sensor 21 determined to be defective belongs. Specifically, the CPU 110 generates torque information indicating the torque detected by the torque sensor 19 and outputs the torque information to the CPU 120. The CPU 120 is based on the torque of the left motor 17 indicated by the torque information output from the CPU 110. Servo control of the left motor 17 may be continued. Alternatively, the control system of the inverted motorcycle 1 may be continued with only the 0-system control system by disconnecting the 1-system control system to which the torque sensor 21 determined to have failed.

  In addition, switching to the control of the inverted motorcycle 1 after disconnecting (degrading) the part related to the failure (servo motor 170, torque sensor 21, or the first control system) detected the failure of the torque sensor 21 first. The CPU outputs the notification information for notifying the failure of the torque sensor 21 to the CPU of another system, and the CPU of the other system that receives the information is also implemented so that the CPUs 110 and 120 start synchronously. May be.

  Further, as the control to continue by separating the part related to the failure, the inverted motorcycle 1 may be controlled to continuously run while being inverted, or the getting-off control to stop the inverted motorcycle 1 while being inverted is performed. It may be.

  Note that, in the failure diagnosis processing related to the torque sensors 20 and 22 corresponding to the right motor 18, when it is determined that the deviation of the 0 system is not larger than the deviation of the 1 system (S4: No), the 1 system torque sensor 22 fails. It will be determined that In this case, the part to be disconnected is the torque sensor 22 determined to be broken, the servo motor 180 to which it belongs, or the one-system control system to which it belongs. Further, when only the torque sensor 22 determined to be broken is disconnected, the CPU 110 generates torque information indicating the torque detected by the torque sensor 20 and outputs the torque information to the CPU 120, and the CPU 120 is output from the CPU 110. The servo control of the right motor 18 may be continued based on the torque of the right motor 18 indicated by the torque information.

  When each of the CPUs 110 and 120 determines that the deviation of the 0 system is larger than the deviation of the 1 system (S4: Yes), the CPU 110 and 120 determine that the 0 system torque sensor 19 has failed. In this case, each of the CPUs 110 and 120 disconnects the servo motor 170 to which the 0-system torque sensor 19 belongs, and continues the control of the inverted motorcycle 1 (S6). Specifically, each of the CPUs 110 and 120 continues the control of the inverted motorcycle 1 by servo-controlling only the servo motor 180 (right motor 18) of the servo motor 170 and the servo motor 180.

  In addition, each of the CPUs 110 and 120 may disconnect only the torque sensor 19 determined to be defective without disconnecting the entire servo motor 170 to which the torque sensor 19 determined to be defective belongs. Specifically, the CPU 120 generates torque information indicating the torque detected by the torque sensor 21, and outputs the torque information to the CPU 110. The CPU 110, based on the torque of the left motor 17 indicated by the torque information output from the CPU 120, Servo control of the left motor 17 may be continued. Alternatively, the control system of the 0-system to which the torque sensor 19 determined to have failed may be disconnected, and the control of the inverted motorcycle 1 may be continued using only the 1-system control system.

  In addition, switching to the control of the inverted motorcycle 1 after disconnecting (degrading) the portion related to the failure (servo motor 170, torque sensor 19, or 0 system control system) detected the failure of the torque sensor 19 first. The CPU outputs the notification information for notifying the failure of the torque sensor 19 to the CPU of the other system, and the CPU of the other system that receives the information is also implemented so that the CPU 110 and the CPU 120 start synchronously. May be.

  Further, as the control to continue by separating the part related to the failure, the inverted motorcycle 1 may be controlled to continuously run while being inverted, or the getting-off control to stop the inverted motorcycle 1 while being inverted is performed. It may be.

  In the failure diagnosis process related to the torque sensors 20 and 22 that detect the torque of the right motor 18, when it is determined that the deviation of the 0 system is larger than the deviation of the 1 system (S4: Yes), the 0 system torque sensor 20 It is determined that there is a failure. In this case, the part to be separated is the torque sensor 20 determined to be broken, the servo motor 180 to which it belongs, or the 0-system control system to which it belongs. When only the torque sensor 20 determined to be broken is disconnected, the CPU 120 generates torque information indicating the torque detected by the torque sensor 22 and outputs the torque information to the CPU 110. The CPU 110 is output from the CPU 120. The servo control of the right motor 18 may be continued based on the torque of the right motor 18 indicated by the torque information.

  Next, description will be made with reference to FIG. As described above, when it is determined in step S2 of FIG. 6 that the magnitude of “deviation deviation” is less than the predetermined threshold (S2: No), each of the CPU 110 and the CPU 120 is described below with reference to FIG. The processing shown in is performed.

  Each of the CPUs 110 and 120 determines whether or not the torque deviation is equal to or greater than a predetermined threshold value X (S12) as a process of determining whether or not the calculated deviation (torque deviation) is large (S11). That is, if it is CPU110, it will determine about the deviation of 0 system, and if it is CPU120, it will determine about the deviation of 1 system. Note that each of the CPUs 110 and 120 may make a determination on both the 0-system deviation and the 1-system deviation.

  When each of the CPUs 110 and 120 determines that the torque deviation is not equal to or greater than the predetermined threshold value X (S12: No), it continues the inversion control of the normal inverted motorcycle 1 as it is (S13).

  When each of the CPUs 110 and 20 determines that the torque deviation is not equal to or greater than the predetermined threshold value X (the torque deviation is less than the predetermined threshold value X) (S12: Yes), there is a state where the torque deviation is equal to or greater than the predetermined threshold value X. Then, it is determined whether or not it continues for a predetermined time Y (S14).

  If each of the CPUs 110 and 120 determines that the state where the torque deviation is equal to or greater than the predetermined threshold value X does not continue for the predetermined time Y or longer (S14: No), It is estimated that the torque deviation is temporarily increased due to, for example, being pushed, and the inversion control of the normal inverted motorcycle 1 is continued as it is (S15).

  When each of the CPUs 110 and 120 determines that the state in which the torque deviation is equal to or greater than the predetermined threshold value X continues for a predetermined time Y or longer (S14: Yes), the torque sensor 19 or the torque sensor 21 has failed. Therefore, it is estimated that a torque deviation that cannot be dealt with by torque control has occurred, and the getting-off control for stopping the inverted motorcycle 1 while performing the inverted control is performed (S16).

  Further, similarly to the above, the part related to the failure may be separated and the control of the inverted motorcycle 1 may be continued. That is, when the CPU 110 determines that the state where the torque deviation (zero-system deviation) is equal to or greater than the predetermined threshold value X continues for the predetermined time Y (S14: Yes), the calculation of the torque deviation is performed. It is determined that the torque sensor 19 that has detected the torque used for the failure has failed, and the control of the inverted motorcycle 1 is continued by disconnecting the torque sensor 19, the servo motor 170 to which it belongs, or the control system of the 0 system to which it belongs. You may make it do. When the CPU 120 determines that the state where the torque deviation (system 1 deviation) is equal to or greater than the predetermined threshold value X continues for a predetermined time Y (S14: Yes), it is used to calculate the torque deviation. It is determined that the torque sensor 21 that has detected the detected torque has failed, and the control of the inverted motorcycle 1 is continued by disconnecting the torque sensor 21, the servo motor 170 to which the torque sensor 21 belongs, or the one control system to which the torque sensor 21 belongs. It may be.

  In the failure diagnosis process related to the torque sensors 20 and 22 corresponding to the right motor 18, the CPU 110 continues the state in which the torque deviation (system 0 deviation) is equal to or greater than a predetermined threshold value X for a predetermined time Y or longer. (S14: Yes), it is determined that the torque sensor 20 that has detected the torque used to calculate the torque deviation has failed, and the torque sensor 20, the servo motor 180 to which it belongs, The control system of the inverted motorcycle 1 is continued by disconnecting the control system of the 0 system to which the If the CPU 120 determines that the state where the torque deviation (system 1 deviation) is equal to or greater than the predetermined threshold value X continues for a predetermined time Y or longer (S14: Yes), the calculation of the torque deviation is performed. It is determined that the torque sensor 22 that has detected the torque used for the failure has failed, and the control of the inverted motorcycle 1 is continued by disconnecting the torque sensor 22, the servo motor 180 to which the torque sensor 22 belongs, or the one control system to which the torque sensor 22 belongs. Will do.

  As described above, in the first embodiment, the control unit (for example, the microcomputers 11 and 12) causes the motor (for example, the left side) to be based on the sensor value detected by the first sensor (for example, the torque sensor 19 or the torque sensor 20). The first output value (torque) of the motor 17 or the right motor 18) and the first deviation (for example, 0 system deviation) which is the deviation between the first output value target value and the second sensor (for example, The difference between the second output value (torque) of the motor (for example, the left motor 17 or the right motor 18) based on the sensor value detected by the torque sensor 21 or the torque sensor 22) and the target value of the second output value. When it is determined that the magnitude of the deviation from the second deviation (for example, the deviation of the first system) is equal to or greater than a predetermined threshold, the control is determined in advance as control according to the abnormality of the first sensor or the second sensor. Carry out abnormal control It is way.

  According to this, regardless of whether or not a torque disturbance is applied, the “deviation deviation” takes a small value when the sensor is not broken, and a large value when the sensor is broken. Therefore, it is possible to detect the sensor abnormality at high speed without misdetecting the sensor abnormality by setting the threshold value to a small value, and to perform the control at the time of abnormality corresponding thereto.

<Embodiment 2 of the Invention>
Next, the second embodiment 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.

  With reference to FIG. 8, the structure of the control apparatus 10 concerning this Embodiment 2 is demonstrated. FIG. 8 is a block diagram illustrating a configuration of the control device 10 according to the second embodiment. In addition, about what implements the process similar to the component of the control apparatus 10 concerning Embodiment 1 demonstrated with reference to FIG. 2, the same code | symbol is attached | subjected and description is abbreviate | omitted suitably.

  As compared with the control device 10 according to the first embodiment, the control device 10 according to the second embodiment has microcomputers 25 and 26 instead of the microcomputers 11 and 12, and instead of the torque sensors 19 to 22, It has rotation angle sensors 27-30.

  Like the microcomputers 11 and 12, the microcomputers 25 and 26 maintain the inverted state of the inverted motorcycle 1 as described above based on the angular velocity signals output from the gyro sensor sensors 23 and 24, respectively. An ECU that controls the motors 17 and 18.

  However, the microcomputers 25 and 26 according to the second embodiment servo-control (feedback control) the motor 17 based on the rotation angle signal indicating the rotation angle of the motor 17 output from the rotation angle sensors 27 and 28, respectively. ), Command values for the inverters 13 and 15 are generated. Further, each of the microcomputers 25 and 26 performs servo control (feedback control) on the motor 18 based on the rotation angle signal output from the rotation angle sensors 29 and 30 and indicating the rotation angle of the motor 18. Command values for each of the inverters 14 and 16 are generated. More specifically, the microcomputers 25 and 26 calculate the angular velocities of the motors 17 and 18 by differentiating the rotation angle indicated by the rotation angle signal, and perform speed servo control based on the calculated angular velocities.

  The rotation angle sensor 27 detects the rotation angle of the motor 17, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 28 detects the rotation angle of the motor 18, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 11. The rotation angle sensor 29 detects the rotation angle of the motor 17, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12. The rotation angle sensor 30 detects the rotation angle of the motor 18, generates a rotation angle signal indicating the detected rotation angle, and outputs the rotation angle signal to the microcomputer 12. In addition, as the rotation angle sensors 27 to 30, for example, any one of sensors that can detect the rotation angle of the motors 17 and 18 such as an encoder or a resolver may be used.

  Therefore, as shown in FIG. 9, the control device 10 according to the second embodiment includes the motor 17 and the rotation angle sensors 27 and 29 as the servo motor 170, and the motor 18 and the rotation angle sensor as the servo motor 180. 28,30. Moreover, each of the microcomputers 25 and 26 includes the CPUs 250 and 260 that execute various processes related to the control of the inverted motorcycle 1 as described above. The CPUs 250 and 260 use the rotation angle signals output from the rotation angle sensors 27 to 30 in place of the torque signals output from the torque sensors 19 to 22, respectively, and perform the same failure diagnosis processing as the CPUs 110 and 120. carry out.

  That is, in the failure diagnosis processing related to the rotation angle sensors 27 and 29 corresponding to the left motor 17, the 0-system CPU 250 determines the angular velocity target value of the left motor 17 as the 0-system deviation by the above equation (1), A deviation from the angular velocity of the left motor 17 calculated from the rotation angle of the left motor 17 indicated by the rotation angle signal output from the rotation angle sensor 27 is calculated. The 1-system CPU 260 calculates the deviation of the 1-system from the target value of the angular velocity of the left motor 17 and the rotation angle of the left motor 17 indicated by the rotation angle signal output from the rotation angle sensor 29 by the above equation (1). The deviation from the calculated angular velocity of the left motor 17 is calculated.

  Further, in the failure diagnosis processing relating to the rotation angle sensors 28 and 30 corresponding to the right motor 18, the 0-system CPU 250 determines the angular velocity target value of the right motor 18 as the 0-system deviation by the above equation (1), A deviation from the angular velocity of the right motor 18 calculated from the rotation angle of the right motor 18 indicated by the rotation angle signal output from the rotation angle sensor 28 is calculated. The CPU 1 of the first system calculates the deviation of the first system from the target value of the angular velocity of the right motor 18 and the rotation angle of the right motor 18 indicated by the rotation angle signal output from the rotation angle sensor 30 according to the above equation (1). The deviation from the calculated angular velocity of the right motor 18 is calculated.

  That is, in the second embodiment, the angular velocity calculated from the rotation angle indicated by the rotation angle signals from the rotation angle sensors 27 to 30 is handled as the output value from the motors 17 and 18 that are the control targets.

  Then, each of the CPUs 250 and 260 calculates the deviation of the deviation by the equation (2) in the same manner as described above, and determines whether the rotation angle sensors 27 to 30 have a failure depending on whether or not the magnitude exceeds a predetermined threshold value. To detect.

  Next, a failure diagnosis process by the control device 10 according to the second embodiment will be described with reference to FIGS. Here, as described above, the failure diagnosis process by the control device 10 according to the second embodiment is performed with reference to FIG. 6 except that the deviation of the speed is calculated instead of the torque as the deviation. Since this is the same as the failure diagnosis processing by the control device 10 according to the first embodiment, detailed description thereof is omitted.

  That is, in the failure diagnosis process related to the rotation angle sensors 27 and 29 corresponding to the left motor 17, when it is determined that the deviation of the 0 system is not larger than the deviation of the 1 system (S4: No), the rotation angle sensor 29 of the 1 system It is determined that is malfunctioning. In this case, the part to be separated is the rotation angle sensor 29 determined to be broken, the servo motor 170 to which it belongs, or the one-system control system to which it belongs. When only the rotation angle sensor 29 determined to have failed is disconnected, the CPU 110 generates rotation angle information indicating the rotation angle detected by the rotation angle sensor 27 and outputs the rotation angle information to the CPU 120. The servo control of the left motor 17 is continued based on the rotation angle of the left motor 17 indicated by the rotation angle information output from.

  When it is determined in the failure diagnosis process related to the rotation angle sensors 27 and 29 corresponding to the rotation angle of the left motor 17 that the 0-system deviation is larger than the 1-system deviation (S4: Yes), the 0-system rotation angle sensor 27 It is determined that is malfunctioning. In this case, the part to be separated is the rotation angle sensor 27 determined to be broken, the servo motor 170 to which it belongs, or the 0-system control system to which it belongs. When only the rotation angle sensor 27 determined to be malfunctioning is disconnected, the CPU 120 generates rotation angle information indicating the rotation angle detected by the rotation angle sensor 29 and outputs the rotation angle information to the CPU 110. The servo control of the left motor 17 is continued based on the rotation angle of the left motor 17 indicated by the rotation angle information output from.

  When the failure diagnosis process related to the rotation angle sensors 28 and 30 corresponding to the right motor 18 determines that the deviation of the 0 system is not larger than the deviation of the 1 system (S4: No), the rotation angle sensor 30 of the 1 system It is determined that is malfunctioning. In this case, the part to be separated is the rotation angle sensor 30 determined to be broken, the servo motor 180 to which it belongs, or the one-system control system to which it belongs. When only the rotation angle sensor 30 determined to be malfunctioning is disconnected, the CPU 110 generates rotation angle information indicating the rotation angle detected by the rotation angle sensor 28 and outputs the rotation angle information to the CPU 120. The servo control of the right motor 18 may be continued based on the rotation angle of the right motor 18 indicated by the rotation angle information output from.

  In the failure diagnosis processing related to the rotation angle sensors 28 and 30 corresponding to the right motor 18, when it is determined that the deviation of the 0 system is larger than the deviation of the 1 system (S4: Yes), the rotation angle sensor 28 of the 0 system fails. It will be determined that In this case, the part to be separated is the rotation angle sensor 28 determined to be broken, the servo motor 180 to which it belongs, or the 0-system control system to which it belongs. Further, when only the rotation angle sensor 28 determined to be malfunctioning is disconnected, the CPU 120 generates rotation angle information indicating the rotation angle detected by the rotation angle sensor 30 and outputs the rotation angle information to the CPU 110. The servo control of the right motor 18 may be continued based on the rotation angle of the right motor 18 indicated by the rotation angle information output from.

  Here, in the second embodiment, when it is determined in step S2 of FIG. 6 that the magnitude of “deviation deviation” is less than a predetermined threshold (S2: No), each of the CPU 110 and the CPU 120 is The process shown in FIG. 10 described below is performed.

  Each of the CPUs 110 and 120 determines whether or not the speed deviation is equal to or greater than a predetermined threshold value X (S22) as a process of determining whether or not the calculated deviation (speed deviation) is large (S21).

  When each of the CPUs 110 and 120 determines that the speed deviation is not equal to or greater than the predetermined threshold value X (the speed deviation is less than the predetermined threshold value X) (S22: No), it continues the inversion control of the normal inverted motorcycle 1 as it is. (S23).

  If each of the CPUs 110 and 120 determines that the speed deviation is equal to or greater than the predetermined threshold value X (S22: Yes), whether or not the state where the speed deviation is equal to or greater than the predetermined threshold value X continues for a predetermined time Y or more. Is determined (S24).

  When each of the CPUs 110 and 120 determines that the state where the speed deviation is equal to or greater than the predetermined threshold value X does not continue for the predetermined time Y or longer (S24: No), the left motor 17 is idled due to the jump of the step. Estimated to be a temporary increase in speed deviation due to. In this case, each of the CPUs 110 and 120 performs slip prevention control (S25).

  Specifically, each of the CPUs 110 and 120 controls the left motor 17 so as to lower the angular velocity of the left motor 17 than usual as slip prevention control. As this control, servo control is performed so as to calculate a command value at which the angular velocity of the left motor 17 is lower than a command value calculated during normal control (control when the speed deviation is not equal to or greater than the threshold value X). For example, each of the CPUs 110 and 120 generates a command value for lowering the angular velocity of the left motor 17 by setting an upper limit value lower than the upper limit value during normal control as the upper limit value of the target value of angular velocity. It may be. According to this, it can be prevented that the left motor 17 is landed in an over-rotation state and the inverted motorcycle 1 becomes unstable at the time of landing.

  In the failure diagnosis process related to the rotation angle sensors 28 and 30 corresponding to the right motor 18, each of the CPUs 110 and 120 indicates that the state where the speed deviation is not less than the predetermined threshold value X has not continued for the predetermined time Y or longer. When the determination is made (S24: No), the right motor 18 is controlled to reduce the angular velocity of the right motor 18 in the same manner.

  When each of the CPUs 110 and 120 determines that the state in which the speed deviation is equal to or greater than the predetermined threshold value X continues for the predetermined time Y or longer (S24: Yes), the inverted motorcycle 1 hits a wall or a person. It is estimated that it has not been able to advance in the direction of travel. In this case, each of the CPU 110 and the CPU 120 performs control for continuously running the inverted motorcycle 1 while controlling the inverted motorcycle 1 while lowering the control gain in the servo control, or the exit control for stopping the inverted motorcycle 1 while controlling the inverted motorcycle 1. Perform (S26). According to this, it is possible to suppress wastefully consuming the electric power of the inverted two-wheeled vehicle 1 by continuing to push the wall in a situation where it is not possible to proceed by hitting a wall or the like.

  As described above, in the second embodiment, the control unit (for example, the microcomputers 25 and 26) uses a motor (based on the sensor value detected by the first sensor (for example, the rotation angle sensor 27 or the rotation angle sensor 29)). For example, a first deviation (for example, a 0-system deviation) that is a deviation between a first output value (an angular velocity calculated based on the rotation angle) of the left motor 17 or the right motor 18) and a target value of the first output value. ) And a second output value (for example, the left motor 17 or the right motor 18) based on the sensor value detected by the second sensor (for example, the rotation angle sensor 28 or the rotation angle sensor 30). The first deviation when the magnitude of the deviation between the second deviation (for example, one system deviation), which is the deviation between the target value of the second output value and the second output value, is greater than or equal to a predetermined threshold value. In the sensor or the second sensor Flip was so that implementing a predetermined abnormality control as a control.

  According to this, regardless of whether or not a speed disturbance is applied, the “deviation deviation” takes a small value when the sensor is not faulty, and a large value when the sensor is faulty. Therefore, it is possible to detect the sensor abnormality at high speed without misdetecting the sensor abnormality by setting the threshold value to a small value, and to perform the control at the time of abnormality corresponding thereto. That is, the present invention can be applied to arbitrary servo control such as torque servo control and speed servo control.

  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 above embodiment, both the CPUs 110 and 120 (or the CPUs 250 and 260) perform the failure diagnosis process, but only one of them may execute the failure diagnosis process. However, preferably, both the CPUs 110 and 120 (or the CPUs 250 and 260) perform the failure diagnosis process, so that the responsiveness of the failure detection can be further improved.

  In the above-described embodiment, each of the CPUs 110 and 120 (or CPUs 250 and 260) calculates the deviation of the deviation by passing the deviation information to another CPU. Any information can be used as long as the CPU of the system can calculate the deviation. For example, in the first embodiment, each of the CPUs 110 and 120 outputs torque information indicating the torque acquired from the torque sensor to the other system CPU, and the other system CPU that has received the torque information receives the target value and the torque. A deviation from the torque indicated by the information may be calculated and used as a deviation of another system. For example, in the second embodiment, each of the CPUs 250 and 260 outputs the rotation angle information indicating the rotation angle acquired from the rotation angle sensor to the CPU of the other system, and the CPU of the other system that has received it outputs the target A deviation between the value and the angular velocity calculated from the rotation angle indicated by the rotation angle information may be calculated and used as a deviation of another system.

  In the above-described embodiment, the example in which the present invention is applied to an inverted motorcycle having a double control system has been described. However, an inverted motorcycle having a single control system in which the control system is not doubled is described. Can also be applied. For example, in this case, by providing only one torque sensor or speed sensor for fault diagnosis for one motor, it is possible to calculate the deviation of the deviation and perform fault diagnosis in the same manner as described above. You may make it do.

DESCRIPTION OF SYMBOLS 1 Inverted motorcycle 2 Wheel 3 Step cover 4 Handle 10 Control apparatus 11, 12, 25, 26 Microcomputer 13, 14, 15, 16 Inverter 17, 18 Motor 19, 20, 21, 22 Torque sensor 23, 24 Gyro sensor 27, 28 , 29, 30 Rotation angle sensors 110, 120, 250, 260 CPU
170, 180 Servo motor 200 Communication path between CPUs

Claims (7)

An inverted motorcycle that moves by rotating a first wheel and a second wheel,
A first motor for rotating the first wheel;
A second motor for rotating the second wheel;
A first sensor for detecting a predetermined physical quantity in the first motor as a sensor value;
A second sensor for detecting, as a sensor value, a physical quantity of the same type as the physical quantity detected by the first sensor in the first motor;
A third sensor for detecting, as a sensor value, a physical quantity of the same type as the physical quantity detected by the first sensor in the second motor;
A fourth sensor for detecting, as a sensor value, a physical quantity of the same type as the physical quantity detected by the first sensor in the second motor;
Wherein the first output value of said first motor first sensor is based on a sensor value detected based on the first deviation which is a deviation between the target value of the first output value, the first And a third output value of the second motor based on a sensor value detected by the third sensor, and a third output value that is a deviation from a target value of the third output value. A control unit that controls the inverted motorcycle by servo-controlling the second motor based on a deviation ; and
The control unit is a deviation between the first deviation and a second output value of the first motor based on a sensor value detected by the second sensor and a target value of the second output value. When it is determined that the magnitude of the deviation from the second deviation is equal to or greater than a predetermined threshold value, a control at the time of abnormality predetermined as control according to the abnormality of the first sensor or the second sensor is performed. And a fourth deviation which is a deviation between the third deviation and the fourth output value of the second motor based on the sensor value detected by the fourth sensor and the target value of the fourth output value. When it is determined that the magnitude of the deviation with respect to the deviation is equal to or greater than a predetermined threshold value, the abnormal time control predetermined as the control according to the abnormality of the third sensor or the fourth sensor is performed .
Inverted motorcycle. The controller is
And servo-controlling the first motor based on the second deviation,
As the abnormal time control, when the first deviation is larger than the second deviation, the first sensor is disconnected and the inverted motorcycle is controlled, and the first deviation is the second deviation. If not greater than the deviation, the second sensor is disconnected and the inverted motorcycle is controlled.
The inverted motorcycle according to claim 1. The first sensor and the second sensor detect the torque of the first motor as the predetermined physical quantity,
The controller is
The torque of the first motor detected by the first sensor is set as the first output value,
The torque of the first motor detected by the second sensor is set as the second output value,
When it is determined that the first deviation or the second deviation is equal to or greater than a predetermined torque deviation threshold value, a getting-off control for stopping the inverted motorcycle is performed.
The inverted motorcycle according to claim 1 or 2. The control unit performs the getting-off control when it is determined that the state where the first deviation or the second deviation is equal to or greater than a predetermined torque deviation threshold value continues for a predetermined time.
The inverted motorcycle according to claim 3. The first sensor and the second sensor detect a rotation angle of the first motor as the predetermined physical quantity,
The controller is
The angular velocity of the first motor calculated based on the rotation angle of the first motor detected by the first sensor is set as the first output value,
The angular velocity of the first motor calculated based on the rotation angle of the first motor detected by the second sensor is set as the second output value,
When it is determined that the first deviation or the second deviation is greater than or equal to a predetermined speed deviation threshold, the first deviation or the second deviation is greater than the case where the first deviation or the second deviation is less than a predetermined speed deviation threshold . Performing over-rotation prevention control for reducing the angular speed of the motor 1, exit control for stopping the inverted motorcycle, or gain reduction control for reducing the control gain in the servo control,
The inverted motorcycle according to claim 1 or 2. The controller is
When it is determined that the state in which the first deviation or the second deviation is equal to or greater than a predetermined speed deviation threshold has continued for a predetermined time or longer, the getting-off control or the gain reduction control is performed,
When it is determined that the state in which the first deviation or the second deviation is equal to or greater than a predetermined speed deviation threshold has not continued for a predetermined time, the overspeed prevention control is performed.
The inverted motorcycle according to claim 5. Deviation between the first and the first output value of the first motor based on the sensor value acquired from the sensor, the target value of the first output value for detecting a predetermined physical quantity of the first motor as a sensor value in it, based on the first deviation, the physical quantity of the first Rutotomoni rotate the first wheel by the motor servo control, a physical quantity of the same type which the in the second motor first sensor detects Based on a third deviation which is a deviation between a third output value of the second motor based on a sensor value acquired from a third sensor that detects the sensor value as a sensor value and a target value of the third output value. And a method of controlling an inverted two-wheeled vehicle that moves by rotating the second wheel by servo-controlling the second motor ,
Obtaining a sensor value from a second sensor that detects a physical quantity of the same type as the physical quantity detected by the first sensor in the first motor as a sensor value;
Obtaining a sensor value from a fourth sensor that detects a physical quantity of the same type as the physical quantity detected by the first sensor in the second motor as a sensor value;
The second output value of the first motor and the target of the second output value based on the sensor value detected by the second sensor based on the first deviation and the sensor value acquired from the second sensor When it is determined that the magnitude of the deviation from the second deviation, which is a deviation from the value, is greater than or equal to a predetermined threshold, the control is determined in advance as control according to an abnormality in the first sensor or the second sensor. And the fourth output value of the second motor based on the sensor value detected by the fourth sensor based on the sensor value acquired from the third deviation and the fourth sensor. And the fourth deviation which is the deviation between the fourth output value and the target value of the fourth output value are determined to be greater than or equal to a predetermined threshold value, the third sensor or the fourth sensor scan for implementing a predetermined abnormality control as abnormally control corresponding And-up,
Control method with.

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