{
  "$type": "site.standard.document",
  "description": "In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command ¸ref serving as attitude command and current base angle ¸ 0 calculated by using a gyro sensor (13) and an…",
  "path": "/patents/1069448",
  "publishedAt": "2006-03-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "A63C17/12",
    "SONY CORP [JP]"
  ],
  "textContent": "In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command ¸ref serving as attitude command and current base angle ¸ 0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position ¸r of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T 1 calculated by using pressure sensors to drive the motor rotor (92R).",
  "title": "COAXIAL TWO-WHEELED VEHICLE"
}