JPH04201793A - Running control device for unstable vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a running control device for an unstable vehicle, and more specifically, to an unstable vehicle having a structure similar to a unicycle and prone to overturning, a power means is provided and The present invention relates to a running control device for an unstable vehicle that provides maneuverability and allows stable running.

(Problems to be Solved by the Prior Art and Inventions) Sports unicycles are well known.As is well known, this unicycle consists of one wheel equipped with pedals and a seat provided above the wheel. The unicycle is seated with one's feet on the pedals, and moves forward and backward while balancing with its own weight to avoid falling over.Since such unicycles are used for sports or entertainment, it depends on the skill of the operator. 0 In this specification, such a vehicle that has an unstable posture and is prone to overturn is referred to as an "unstable vehicle J." However, such an unstable vehicle has a small ground contact area, It is easy to turn, and if a power means is provided to provide maneuverability, it is convenient when working in a narrow place, for example, in a cave.

Accordingly, an object of the present invention is to provide a running control system for an unstable vehicle that is suitable for work in the narrow space described above by imparting maneuverability to such an unstable vehicle.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention includes, for example, claim 1.
In paragraph 1, an unstable object comprising a rotating body having a circular cross-section, including at least point contact and having a grounding point on a straight line, and a seat placed above the rotating body, the center of gravity of which is above the axis of rotation of the rotating body. A device for controlling the running of a vehicle,
a detection means for detecting an inclination angle and/or an inclination angular velocity with respect to the direction of gravity of a line connecting the axis of rotation and the center of gravity; a drive means connected to the rotating body to drive it; and a drive means for reducing the detected value. The control device is configured to include control ll value determining means for determining the control m value of the means.

(Function) Since the seat is arranged above the rotational axis of the rotating body, the tilt angle and/or the tilt angular velocity of the seat is detected, and the rotating body is driven to reduce it. By shifting your weight to that direction, you can make the vehicle run in that direction. In addition, since there are fewer grounding points, the ground contact area can be reduced, making it possible to turn around more easily and to travel easily even in narrow spaces.

(Example) Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is an explanatory diagram showing an unstable vehicle according to the present invention, which, as shown, consists of one sphere 10 and a frame 12 installed on it. The sphere 10 has a perfect circular cross section and is made of a suitable material. The inside of the sphere 10 may be hollow or solid.

The frame 12 is made by appropriately combining square timbers 14, and the third
As shown in the figure, it has a structure similar to a kotatsu with a square plan view.
A boss 16 is provided to protrude downward from the center, and three members 18 each having an oval-shaped cross section are attached thereto. L-shaped member 18
Casters 20 are attached to the lower portions of the substantially flat bases of the frame 12, so that the frame 12 is supported at three points on the spherical body 10 and can be moved freely. Also frame 12
Four pillars 22 are provided to protrude downward from the corners of the frame 12, and the frame 12 is supported on the sphere 10 by sandwiching the sphere 10 with four rollers 24 attached to the tips thereof. That is, as shown in FIG. 4, two of the four pillars 22 22a, 22
DC servo motors 26a and 26b are housed inside the belt 2, and the output thereof is boosted by an appropriate speed reduction means such as a harmonic speed reducer (trade name), and then the output is boosted by the belt 2.
8 to the driven sprocket 30 located below, and further transmitted to the rollers 24a, 24b. roller 2
4a and 24b are the fourth pieces including the remaining two pieces 24C924d.
As shown in the figure, it has a disk shape, and its sliding surface is a sphere 10.
is placed so as to be in contact with the surface of That is, the rotational force of the rollers driven by the rotational force of the motor is transmitted to the spherical body 10 to rotate the spherical body 10, thereby causing the illustrated vehicle to travel. Also, here, four rollers 24a, 24b
, 24c, and 24d form a pair of X.

The pillars 22a and 22b, which are arranged opposite to each other in the X direction and house the aforementioned DC servo motors 26a and 26b, are
A stem 32 is provided above the frame 12, and a handlebar 34 is provided at the tip of the stem 32.
At the same time, a pillar 36 is also provided protrudingly, and a seat 38 for seating the driver is attached to the tip of the pillar 36. Further, a box 40 is provided at an appropriate position on the frame 12, and inside the box 40, inclinations and angular velocities with respect to two axes in the x-z plane are detected, and similarly, inclinations and angular velocities with respect to two axes in the y-z plane are detected. A tilt sensor 42 and a control unit 44 to which the output thereof is input are housed. A joystick 46 is also connected to the control unit 44 .

FIG. 5 is a block diagram showing details of the control unit 44, which includes a microcomputer 48 as shown. The microcomputer 48 receives the outputs of the tilt sensor 42 and joystick 46 from the A/D conversion circuit 5.
It is input via 0a to 50h. The unstable vehicle according to the embodiment separately detects the x and y components of the inclination angle of the frame 12 and the x and y components of the inclination angular velocity, which are generated when the driver tilts his body in a certain direction, as described below. The vehicle travels in that direction depending on the amount of control operation to return the slope to its original position.The reason why the joystick 46 is provided here is, firstly, to adjust the offset, and secondly, to adjust the offset. In addition to shifting your weight, this joystick 46
This is to enable maneuvering through the . Inputs from the joystick 46 and the tilt sensor 42 are input separately in the x and X directions. Regarding the joystick input, the symbol A indicates the commanded tilt angle in the X direction, the symbol B indicates the commanded tilt angle in the X direction, the symbol C indicates the commanded speed in the X direction, and the symbol indicates the commanded speed in the X direction.

Regarding sensor detection values, E indicates the detected tilt angle in the X direction, F indicates the detected tilt angular velocity in the X direction, G indicates the detected tilt angle in the X direction, and H indicates the detected tilt angular velocity in the X direction. , commands can also be given by generating a virtual tilt signal via the joystick.

Based on these inputs, the microcomputer 48
As described later, the drive control value is calculated using code 1. J), D/
Servo amplifier 54a via A conversion circuits 52a and 52b
, 54b, the aforementioned DC servo motor 26a,
Although not shown in FIGS. 1 to 4, the amount of motor displacement is determined by rotary encoders 56a and 56.
b, and the detected value is sent to counters 58a and 58b.
The counter value is input to the microcomputer 48, and the motor displacement amount (indicated by M) and displacement speed (indicated by N) are fed back to form a servo system. The microcomputer 48 is also connected to an arithmetic constant setter 60 for gain adjustment and a tilt indicator 62 for checking the tilt sensor output.

Next, the operation of this control unit will be explained with reference to FIG.

FIG. 6 is a flow chart showing the main routine. First, in S1, each part of the unit is initialized, and then in S2, the gain Kl is set as appropriate via the arithmetic constant setter (dimp switch) 60.
, to 2. 3 is read in, timer interrupt permission is given in S3, and the detected inclination angle is displayed on the above-mentioned inclination display 62 in S4.

FIG. 7 is a subroutine flow chart showing a timer routine activated every 100 μs by the timer interrupt just described. First, the encoder counter values CNTx and CNTy are read in SIO, and in S12, the difference from the previously detected counter value, ΔCNTx, Δc
sry, and the inclination angle θX detected in S14,
θy, tilt angular velocity θX, θy, required speed human power V xco
ta, V ycotn, tilt command human power θxcom,
The A/D converted value of θyco* is read, and the motor torque command value is calculated as follows in S16.

Txcom=1 (θxcon+-θx), 2
・/7x+K3 (Vxcom-ΔCNTX)T
yxom = 1 (θycoIl - θy) - 2
・θy 10 to 3 (V yc, on+-ΔCNTy)
Finally, the command value calculated in S18 is output from the D/A conversion circuits 52a, 52b, and the above routine is repeated at each time.

Since the present embodiment is configured as described above, the vehicle can run at a speed proportional to the speed at which the driver tilts his/her body in the direction in which he/she tilts his/her body, and the vehicle can be arbitrarily driven in any direction including front, back, left, and right. In addition, since there is only one grounding point, it is possible to turn around easily and is suitable for working in narrow places such as inside caves. In addition, in the case of the structure according to the embodiment, since the line connecting the rotation axes of the opposing rollers is arranged parallel to the ground plane,
Turning at the location where the vehicle is located, so-called on-the-spot turning, is not possible, but it is possible by adding appropriate means and configuring the vehicle to break the parallelism between the above-mentioned line and the ground contact surface if desired. be. In other words, even though the ground contact is made at one point, in reality the ground contact area covers a certain area, so it is not impossible to generate a moment during that time. Incidentally, this on-the-spot turning can also be done by tilting the seat in a predetermined direction and tilting the body in a different direction depending on the driver's skill.

Incidentally, in the embodiment, a spherical body is used, but a cylindrical member such as a log may be used for line contact. FIG. 8 and subsequent figures are explanatory diagrams showing a second embodiment of the present invention. In the second embodiment, an unstable vehicle was constructed by fixing a seating seat on an axle that connects two wheels. The figure is a side view of the compartment. To explain the elevation, two DC servo motors 70a and 70b (300w) are installed at the bottom of the unstable vehicle according to the second embodiment.
are arranged, the output of which is transmitted to the axles 72a, 72b via a harmonic reducer (not shown in FIGS. 8 and 9) to independently rotate the wheels 74a, 74b connected thereto. A hatch lift 6 (78v) is arranged above the DC servo motors 70a, 70b, and a control unit 78 is arranged above it. A general frame 80 is attached above the control unit 78,
A seat 82 is installed inside the seat 82. Also, a tilt sensor 84 is arranged between the DC servo motors 70a' and 7'ObO close to the axis of rotation, and a joystick 86 is installed at an appropriate position in front of the seat. are arranged, and their outputs are sent to the control unit 78. Also, behind the seat 82, servo amplifiers 88a and 88b are arranged.

FIG. 10 is a block diagram showing details of the control unit. Command value V11 input by joystick 86
V2 and the tilt angle θ and tilt angular velocity ω detected by the tilt sensor 84 are input to the microcomputer 92 via the A/D conversion circuit 90. Based on these input values, the microcomputer 92 calculates control command values as described later. The calculated value is converted into a current command value 1'COH by the D/A conversion circuit 94, and then sent to the servo amplifier 88a.

The rotational force is sent to the DC servo motors 70a, 70b via the DC servo motors 70a, 70b via the motor 88b, and is boosted via the harmonic reduction gears 96a, '96b. 4b.

Although not shown, it goes without saying that the amount of motor displacement is detected by a rotary encoder, and the counter value of the output pulses is fed to the microcomputer 92 to form a servo system.

Next, the operation of this control device will be explained with reference to FIG. First, at 5100, signals corresponding to the forward/reverse speed and steering direction issued by the driver are detected. Next, in 5102, the state of the controlled object is detected from the inclination angle θ and inclination angular velocity ω, and in 5104 and thereafter, control values are calculated. In this control, after the control value is calculated once by fuzzy inference, it is corrected using proportional control. That is, as shown in the figure, the operation amount v of the joystick 86 is multiplied by an appropriate gain kpl.
l (forward/reverse command) and the detected inclination angle θ multiplied by an appropriate second gain kp2 and the detected inclination angular velocity ω
The value obtained by multiplying the by an appropriate third gain kp3 is input to the fuzzy inference section, and the inferred value necessary to maintain the upright stationary state or to move forward and backward including the amount of acceleration and deceleration is determined. . The determined inference value is then subjected to fourth and fifth gains k.
The current command values Ic, M RIGHT, Ic, and M LEFT are determined for the left and right wheels by multiplying by p4°kp5. Here, the relationship between the joystick operation amount v1 and the acceleration/deceleration amount is adjusted using a proportional gain kpl. On the other hand, regarding the turning command, the sixth
It is controlled by the second operation amount v2 of the joystick 86 multiplied by a proportional gain kp6, and turns by giving a speed difference to the left and right wheels. Note that the relationship between the joystick operation amount v2 and the turning radius is adjusted by the gain kp6.

Returning to the flow chart in Figure 11 again, 5104-5
108 corresponds to the fuzzy inference step, but first 51
In step 04, the suitability of the input is determined, and in step 5106, the suitability of the antecedent part and the consequent part is determined and a mini-max operation is performed.
Fuzzy output is synthesized in step 08. On this point, the 13th
Referring to the figure below, the figure shows the fuzzy production rules used in this control, which consists of 25 rules as shown. As described above, the input variables consist of the inclination angle θ and the inclination angular velocity ω, and the output variable is the current command value I COM. An example of a rule is:
if θ= PS AND ω= NL, the
nICOM =NS (If the tilt angle is small in the positive direction and the tilt angular velocity is large in the negative direction, the current command value is negative and small). The 25 rules are of two types: rules to prevent the controlled object from falling over, and rules to drive in the direction and speed instructed by the driver. 1st
Figure 4 shows their membership functions. When setting these membership functions, we experimented with various combinations and adopted the ones that yielded good control results.

As a result, depending on the input variables, the membership functions of each fuzzy label are not necessarily the same as seen in ZR.

To explain this fuzzy inference using an example, the inclination angle θ is -0.5 [degrees] and the inclination angular velocity ω is 0.2.
When it is [degrees/second], the related fuzzy labels from the rule table are that the tilt angle θ is NS and ZR, and the tilt angular velocity ω is ZR and PS. If we raise the perpendicular line upward from the corresponding position on the defined domain and find the intersection position, we get
θ(NS) = 0.71, θ(ZR) -0.29, and the inclination angular velocity ω is also as shown in the figure. If mini-max calculations are performed on these as shown in the lower part of the same figure, a composite waveform as shown in FIG. −−0.24 [mA).

Returning to the flow chart in FIG. 11 again, 511
0, the fuzzy inference value is multiplied by a nonlinear proportional gain and corrected. In other words, one of the characteristics of this example is that it avoids the complexity of determining optimal control values through thorough fuzzy inference, and by adding proportional control to fuzzy inference, it is possible to easily determine optimal control values. The point is that we have made it possible to ask for it. During design, it takes a long time to find the optimal values by adjusting various rules and membership functions through experiments on actual systems and simulation runs using large-scale computers, but this configuration makes it easier. We were able to design an optimal control system. Specifically, as shown in the lower part of Fig. 16, the current command value is corrected by multiplying the fuzzy inference value by the fourth and fifth proportional gains.
Even in the case of -C vehicle control, it is necessary to find an optimal compromise between the conflicting characteristics of stability and running performance.
In the case of an unstable vehicle, the reciprocity between the two becomes even more pronounced as shown in the upper part of the figure. Therefore, even when setting the proportional gain, it is not always possible to completely satisfy both conditions when providing a linear characteristic as shown in FIG. Therefore, it is assumed that a nonlinear characteristic is given to the gain, kp4 is given a characteristic as shown in FIG. 18, kp5 is given a characteristic as shown in FIG. 19,
Furthermore, it was made variable as appropriate.

Next, in accordance with the steering command issued by the driver at 5112, the rotational speeds of the left and right wheels are corrected to give a difference. That is, as described above with reference to FIG. 12, the turning command value is determined by multiplying the joystick human power v2 by the gain kp6. Finally, the servo amplifiers 88a and 88b are commanded to output at Sl 14, and the process loops back to 5100.

In the case of this embodiment, since the configuration is as described above, the vehicle can be moved forward or backward in a desired direction by operating the joystick (or by shifting the driver's weight), and can be easily moved even in narrow spaces. Can run. Also, unlike the unstable vehicle shown in the first embodiment, since it is grounded at two points, it is possible to generate a moment.
Can turn on the spot. However, due to its structure, it cannot be moved left or right.

Further, in the second embodiment, the inclination sensor 84 is connected to the axle 72a.
, 72b, it is less affected by lateral acceleration.In other words, when the tilt sensor receives lateral acceleration, it misidentifies the composite vector of the lateral acceleration and gravity vector as the direction of gravity. However, by locating it closer to the center of rotation, the amount of lateral acceleration generated can be reduced.

FIG. 20 and the following are flow charts showing a third embodiment of the present invention, and this third embodiment differs from the second embodiment in that the fuzzy inference input parameters are increased. The following explanation will focus on the differences. After detecting the input value at 5200, the state of the controlled object is detected from the parameters including the speed deviation V and the angle deviation φ at 3202, and at 520
4 to 5208 perform fuzzy inference, 3210 performs nonlinear correction, 5212 performs steering correction, and 52
In step 14, the output value is finalized. Fuzzy inference itself is the second
Since it is not different from that of the embodiment, the rule table used in the third embodiment is shown in FIGS. 21 and 22 for explanation.

In the case of this embodiment, since the input parameters for fuzzy inference are increased, the control value can be determined to more closely match the driver's feeling.

FIG. 23 shows a fourth embodiment of the present invention, in which the structure of the two-wheeled vehicle used in the second and third embodiments is changed. That is, in the illustrated example, wheels 100a and 100b are connected by a frame 102, and DC servo motors 104a and 104b are fixed to the frame to form a keychain for driving the wheels. A handlebar 108 is attached to the frame 102 via a stem 106. Further, a box 110 is provided at an appropriate position on the frame 102, and a tilt sensor and a control unit (both not shown) are housed inside the box 110. Additionally, a switch 112a is installed on the grip of the handlebar 108.
, b are provided, and the DC servo motor 104a is configured to stop and turn right by turning on 5112a, for example.

Since the remaining structure and its operation are similar to the second embodiment,
The explanation will be omitted.

In addition, although in the above, the control value was determined using the PD control method in the case of the first embodiment and using fuzzy control in the case of the second and third embodiments, the present invention is not limited to this.
Fuzzy control may be used in the first embodiment, and conversely, in the second embodiment,
In the third embodiment, the PD control method, furthermore, the Pil1m method, the P
An ID control method may be used.Furthermore, in the fuzzy control used in the second and third embodiments, the membership function is set to a fixed value, but it may be configured to be variable by learning.

Furthermore, although two wheels are used in the second to fourth embodiments, the invention is not limited to this, and three or more wheels may be arranged in parallel.

(Effects of the Invention) The running control device for an unstable vehicle according to claim 1 includes a rotary body having a circular cross section, including at least point contact and having a grounding point on a straight line, and a seat disposed above the rotating body, A device for controlling the running of an unstable vehicle having a center of gravity above the rotational axis of the rotating body, the device controlling the inclination angle and/or inclination angular velocity of a line connecting the rotational axis and the center of gravity with respect to the direction of gravity. The present invention is configured to include a detection means for detecting the rotating body, a drive means connected to the rotary body to drive it, and a control value determination means for determining a drive control value of the drive means in order to reduce the detected value. By tilting the vehicle in a desired direction, the vehicle can be run in that direction, and the ground contact area is small, making it possible to turn around easily, so it can run even in narrow spaces without any trouble.

The running control device for an unstable vehicle according to claim 2 comprises a spherical body that touches the ground at one point and a seat arranged above the spherical body,
A device for controlling the running of an unstable vehicle having a center of gravity above the center point of the sphere, which detects the inclination angle and/or inclination angular velocity of a line connecting the center point and the center of gravity with respect to the direction of gravity. and a control value determining means that is fixed to the seat and that drives the sphere and/or determines a control value of the drive means to reduce the detected value, The sphere is driven in a direction that inclines the driver's body, so that the vehicle can be arbitrarily driven in any direction, including forward, backward, left, and right. Furthermore, since there is only one grounding point, the vehicle can easily travel even through narrow passages.

The running control device for an unstable vehicle according to claim 3 comprises at least two wheels disposed at positions other than positions on the same straight line parallel to the traveling direction and a seat fixed on an axle connecting the wheels. A device for controlling the running of an unstable vehicle having a center of gravity above the axis of rotation of the axle, the gravitational force of a line connecting the axis of rotation and the center of gravity in a direction perpendicular to the axle. a detection means for detecting a tilt angle and/or a tilt angular velocity with respect to a direction, fixed to the wheel;
Since the structure is provided with a drive means for driving the vehicle and a control value determining means for determining a control value of the drive means to reduce the detected value, by tilting the vehicle in a desired direction forward or backward, the vehicle can be tilted in that direction. Can run.

In addition, since it only touches the ground with two wheels, it is able to turn around easily and can travel easily even in narrow spaces.

The traveling control device for an unstable vehicle according to claim 4 includes a rotary body having a circular cross section and a grounding point in a straight line, including at least point contact, and a seat disposed above the rotary body, the rotation of the rotary body being A device for controlling running of an unstable vehicle having a center of gravity above an axis, the detection means detecting an inclination angle and inclination angular velocity of a line connecting the axis of rotation and the center of gravity with respect to the direction of gravity; A driving means connected to the rotating body to drive the rotating body, a membership function setting means for presetting a membership function of a fuzzy set for the detected value, and a fuzzy inference being performed from the detected value and the set membership function. Since the structure is provided with a control value determining means for determining a control value of the drive means, it is possible to drive the vehicle in a desired direction by tilting the vehicle in that direction, and the drive control value can be determined using a fuzzy algorithm. Since t is determined through the theory of clans, control values can be obtained in a form similar to the information processing ability of humans, and the vehicle can be driven with a driving feeling that closely matches the feeling of the driver. □゛In the running control device for an unstable vehicle according to claim 5, the control value determining means is configured in four ways to correct the control value obtained by performing fuzzy inference using a proportionality constant. When designing the system, there is no need to spend a long time on adjustment by repeating long simulations on two users on an actual system or a large computer, and optimal control values can be determined more easily.

Since the running control device for an unstable vehicle according to the sixth aspect is configured such that the proportionality constant has nonlinear characteristics, it is possible to more accurately correct the control value obtained by fuzzy inference.

The running control device for an unstable vehicle according to claim 7 is configured such that the detecting means is disposed near the rotation axis, so that the adverse effects of lateral acceleration can be reduced, and the inclination angle and inclination can be determined more accurately. Angular velocity can be detected.

[Brief explanation of the drawing]

FIG. 1 is a side view showing the unstable vehicle according to the present invention as a whole, FIG. 2 is a front view thereof, FIG. 3 is an explanatory diagram showing the arrangement of the rollers therein, and FIG. 4 is an illustration of the rollers. Fig. 1 is an enlarged view of the main parts of the vehicle showing details of the drive mechanism, Fig. 5 is an explanatory block diagram showing details of its control unit, Fig. 6 is a flow chart showing its operation, and Fig. 7 is a timer. A subroutine flow chart showing the routine, FIG. 8 is a front view showing the unstable vehicle according to the second embodiment of the present invention, FIG. 9 is a side view thereof, and FIG. 10 is an explanation showing details of the control unit. The block diagram, Figure 11, is a flowchart showing its operation.
Fig. 12 is a block diagram explaining its operation, Fig. 13 is an explanatory diagram showing fuzzy production rules of fuzzy inference used in its operation, and Fig. 14 shows membership functions of input variables and their FIG. 15 is an explanatory diagram showing the synthesis of fuzzy outputs. FIG. 16 is an explanatory diagram of the main part of FIG. 12 showing correction of fuzzy inference values. 19rj
! J is an explanatory diagram showing the characteristics of the correction proportionality constant, FIG. 20 is a flow chart showing the third embodiment of the present invention, and FIGS. 21 and 22 are explanatory diagrams showing the fuzzy production rule used therein. Figure 23 is the fourth diagram according to the present invention.
FIG. 2 is an explanatory perspective view of an unstable vehicle showing an embodiment of the present invention.
lO... sphere, 12. '80.102- = -7v
-mu, 14...square timber, 16...post, 18...
L-shaped member, 2o... Caster, 22 (a, b), 3
6 = Pillar, 24 (a, = b, 'c, d)・-
・Roller, 26 (a, b), 70 (a, b'),
'104 (a, b) ---DC servo motor, 2
8... Belt, 30... Driven sprocket, 32.
10'6... Stem, 34,108... Bundle bar, 38.82... Seat, -40,110... Box, 42', 84... Tilt sensor, 44.78...
...Control unit, 46.86...Joystake,
48.92...Micro computer, 50'(
a-h), 90...A/D conversion circuit, 60...
Calculation constant setter, 62... Tilt indicator, 52 (a,
'b). 86...D/A conversion circuit, 54 (a, -b)',
8B (a, b)” - Servo amplifier, 56 (
a, b)...Rotary encoder, 58(a,'
b) ...Counter, 72 '(a,' b),
100 (a,' b)...Wheel, 72 (a, b)
... Axle, 76 ... Battery, 96 (a, 'b
) ...Harmonic reducer, 1-12 (a,'
b) ...Switch Fig. 1 24b 24a Fig. 6 Fig. 7 Fig. 8 Fig. 9 Fig. 11 Control cycle 2 ms Fig. 12 Control configuration Fig. 13 Figure 21 III degree deviation Φ Figure 22 Yahama O

Claims (7)

[Claims] (1) An unstable structure consisting of a rotating body with a circular cross section that includes at least point contact and has a grounding point on a straight line, and a seat placed above the rotating body, with the center of gravity located above the axis of rotation of the rotating body. A device for controlling the running of a vehicle, comprising: a. a detection means for detecting an inclination angle and/or an inclination angular velocity with respect to the direction of gravity of a line connecting the rotational axis and the center of gravity; b. a detection means connected to the rotating body; A driving control device for an unstable vehicle, comprising: a drive means for driving the drive means; and c, a control value determining means for determining a control value of the drive means to reduce the detected value. (2) A device for controlling the running of an unstable vehicle consisting of a spherical body that touches the ground at one point and a seat placed above the spherical body, the center of gravity of which is located above the center point of the spherical body, comprising: a. Detection means for detecting the inclination angle and/or inclination angular velocity of a line connecting the center point and the center of gravity position with respect to the direction of gravity; b. A driving means fixed to the seat and driving the spherical body; and c. The detection means. A running control device for an unstable vehicle, comprising: control value determining means for determining a control value of the drive means so as to decrease a control value of the drive means. (3) Consisting of at least two wheels arranged at positions other than those on the same straight line parallel to the direction of travel and a seat fixed on an axle connecting them, and above the axis of rotation of the wheels. A device for controlling the running of an unstable vehicle having a center of gravity, the device comprising: (a) determining the inclination angle and/or inclination angular velocity of a line connecting the axis of rotation and the center of gravity with respect to the direction of gravity in a direction perpendicular to the axle; It is characterized by comprising: a detection means for detecting; b. a driving means fixed to the wheel and driving it; and c. a control value determining means for determining a control value of the driving means in order to reduce the detected value. A running control device for unstable vehicles. (4) An unstable structure consisting of a rotating body with a circular cross section that includes at least point contact and has a grounding point on a straight line, and a seat placed above the rotating body, with the center of gravity located above the axis of rotation of the rotating body. A device for controlling the running of a vehicle, comprising: a. a detection means for detecting an inclination angle and inclination angular velocity with respect to the direction of gravity of a line connecting the axis of rotation and the center of gravity; b. a driving means for driving, c. a setting means for presetting a membership function of a fuzzy set for the detected value, and d. a control value of the driving means by performing fuzzy inference from the detected value and the set membership function. A running control device for an unstable vehicle, comprising control value determining means for determining. (5) The running control device for an unstable vehicle according to claim 4, wherein the control value determining means corrects the control value obtained by performing fuzzy inference using a proportionality constant. (6) The running control device for an unstable vehicle according to claim 5, wherein the proportionality constant has nonlinear characteristics. (7) The running control device for an unstable vehicle according to any one of claims 1 to 6, wherein the detection means is arranged near the rotation axis.