JP2014108640A - Coaxial two-wheel vehicle body and method for controlling the same - Google Patents

Abstract

To improve dynamic stability.
A coaxial two-wheel moving body according to the present invention includes a motor that rotates a wheel, a first rotation angle detection unit that detects a rotation angle of the motor, and a second rotation angle detection that detects the rotation angle of the motor. The motor based on at least one of the rotation angle of the motor detected by each of the motor, the yaw angular velocity detection sensor for detecting the yaw angular velocity, and the first rotation angle detection unit and the second rotation angle detection unit Thus, a control unit for controlling the coaxial two-wheel moving body is provided. The control unit compares the rotation angle of the motor detected by the first rotation angle detection unit with the rotation angle of the motor detected by the second rotation angle detection unit, and the first rotation angle. A second comparison is performed in which the yaw angular velocity calculated based on the rotation angle of the motor detected by the detection unit and the yaw angular velocity detected by the yaw angular velocity detection sensor are compared, and the results of the first comparison and the second comparison Based on the above, an abnormal rotation angle detection unit is detected.
[Selection] Figure 3

Description

  The present invention relates to a coaxial two-wheel moving body and a control method therefor, and more particularly, to a technique for controlling a coaxial two-wheel moving body based on a rotation angle of a motor that rotates a wheel of the coaxial two-wheel moving body.

  As disclosed in Patent Documents 1 to 3, vehicles for carrying humans have been studied. In such a vehicle, it is required to ensure dynamic stability such that a failure of a device mounted on the vehicle is detected, and control is continued using a normally operating device.

US Patent Application Publication No. 2003/0146025 International Publication No. 2011/088966 JP 2009-187561 A

  The applicant of the present application has found problems to be described below regarding improvement of dynamic stability in a coaxial two-wheel moving body including the vehicle described above. In addition, the content demonstrated below is the content which the applicant of this application examined newly, and does not demonstrate a prior art.

  As one aspect of the coaxial two-wheel moving body, two wheels, two motors for rotating each of the two wheels, and respective rotation angles of the two motors for feedback control of each of the two motors are acquired. An inverted motorcycle having two sensors is conceivable. However, with this configuration, a sensor failure cannot be detected.

  As a method for solving such a problem, it is conceivable that the configuration of the inverted motorcycle is a configuration in which sensors are duplicated for one motor. According to this configuration, by comparing the rotation angles acquired by each of the two duplicated sensors, if the compared rotation angles do not match, it is determined that one of the sensors has failed. can do. However, even with this configuration, it is impossible to specify which sensor has failed. That is, there is a problem that dynamic stability such as continuing control using a normally operating sensor cannot be ensured.

  The present invention has been made on the basis of the above-described knowledge, and an object thereof is to provide a coaxial two-wheel moving body capable of improving dynamic stability and a control method thereof.

  The coaxial two-wheel moving body according to the first aspect of the present invention is a coaxial two-wheel moving body that moves by rotating a wheel, and a first rotation that detects a rotation angle of the motor and the motor that rotates the wheel. An angle detection unit; a second rotation angle detection unit that detects a rotation angle of the motor; a yaw angular velocity detection sensor that detects a yaw angular velocity of the coaxial two-wheel moving body; the first rotation angle detection unit; A control unit that controls the coaxial two-wheel moving body by driving the motor based on at least one of the rotation angles of the motor detected by each of the two rotation angle detection units, and the control unit Is a first comparison comparing the rotation angle of the motor detected by the first rotation angle detection unit with the rotation angle of the motor detected by the second rotation angle detection unit, and the first The motor detected by the rotation angle detector A second comparison is performed to compare the yaw angular velocity of the coaxial two-wheel moving body calculated based on the rotation angle and the yaw angular velocity of the coaxial two-wheel moving body detected by the yaw angular velocity detection sensor, and the first comparison Based on the result of the second comparison, an abnormal rotation angle detection unit is detected out of the first rotation angle detection unit and the second rotation angle detection unit, and the detection result is determined. The coaxial two-wheel moving body is controlled.

  According to a second aspect of the present invention, there is provided a control method in which the motor is controlled based on at least one of the rotation angles of the motor detected by each of the first rotation angle detection unit and the second rotation angle detection unit. A control method for controlling a coaxial two-wheel moving body that moves by rotating a wheel by driving, the rotation angle of the motor detected by the first rotation angle detection unit, and the second rotation angle detection unit A yaw angular velocity of the coaxial two-wheel moving body calculated based on the first comparison comparing the rotation angle of the motor detected by the first rotation angle, and the rotation angle of the motor detected by the first rotation angle detection unit; Based on the result of the second comparison comparing the yaw angular velocity of the coaxial two-wheel moving body detected by the yaw angular velocity detection unit, the first comparison and the second comparison, Rotation angle detector and the second rotation angle Of output section, those having the steps of detecting a rotation angle detection unit has become abnormal, and a step of performing control of the coaxial two-wheel mobile in accordance with the detection result.

  According to each aspect of the present invention described above, it is possible to provide a coaxial two-wheel moving body capable of improving dynamic stability and a control method thereof.

1 is a diagram showing a schematic configuration of an inverted motorcycle according to an embodiment. It is a block diagram which shows the structure of the control apparatus which concerns on embodiment. It is a figure which shows the connection relation of the sensor which concerns on embodiment, RDC, and a microcomputer. It is a flowchart which shows the failure diagnosis process of the inverted motorcycle which concerns on embodiment. It is a flowchart which shows the failure diagnosis process of the inverted motorcycle which concerns on embodiment. It is a flowchart which shows the failure diagnosis process of the inverted motorcycle which concerns on embodiment. It is a flowchart which shows the failure diagnosis process of the inverted motorcycle which concerns on embodiment. It is a flowchart which shows the failure diagnosis process of the inverted motorcycle which concerns on embodiment. It is a figure which shows the connection relation of the sensor and microcomputer which concern on other embodiment.

  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.

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

  The inverted motorcycle 1 uses a sensor to determine the posture angle (pitch angle) of the inverted motorcycle 1 in the front-rear direction when a passenger who has boarded the step cover 3 applies a load in the front-rear direction of the inverted motorcycle 1. Based on the detection result, the motor that drives the left and right wheels 2 is controlled so as to maintain the inverted motorcycle 1 in an inverted state. 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.

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

  The control device 10 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputer”), inverters 13 to 16, motors 17 and 18, rotation angle sensors 19 to 22, and resolver-digital converter (hereinafter also referred to as “RDC”). ) 23-26 and gyro sensors 27-30.

  The control device 10 is a dual system in which the control system is duplexed into a 1-system control system and a 2-system control system in order to ensure the stability of control of the inverted motorcycle 1. The 1-system control system includes a microcomputer 11, inverters 13 and 14, rotation angle sensors 19 and 20, RDCs 23 and 24, and gyro sensors 27 and 28. The two-system control system includes a microcomputer 12, inverters 15 and 16, rotation angle sensors 21 and 22, RDCs 25 and 26, and gyro sensors 29 and 30.

  Each of the microcomputers 11 and 12 controls the motors 17 and 18 so as to maintain the inverted state based on the angular velocity signals output from the gyro sensors 27 and 28 and the gyro sensors 29 and 30 as described above. ECU (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 27 and 29, 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 27 and 29, 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 based on the posture angle indicated by the posture angle signal output from the posture angle sensor. Also good.

  Each of the microcomputers 11 and 12 controls each of the inverters 13 and 15 so as to feedback-control the motor 17 based on the rotation angle signal output from each of the RDCs 23 and 25 and indicating the rotation angle of the motor 17. Generate a command value. Further, each of the microcomputers 11 and 12 controls each of the inverters 14 and 16 so as to feedback-control the motor 18 based on a rotation angle signal output from each of the RDCs 24 and 26 and indicating the rotation angle of the motor 18. Generate a command value.

  Here, the microcomputer 11 may perform feedback control of the motor 17 based on a rotation angle signal output from at least one of the RDC 23 and the RDC 25. In principle, the microcomputer 11 is included in the same control system. Only the rotation angle signal from the RDC 23 is used. The microcomputer 11 may perform feedback control of the motor 18 based on a rotation angle signal output from at least one of the RDC 24 and the RDC 26. In principle, the microcomputer 11 is included in the same control system. Only the rotation angle signal from the RDC 24 is used. Similarly, the microcomputer 12 may perform feedback control of the motor 17 based on a rotation angle signal output from at least one of the RDC 23 and the RDC 25. In principle, the microcomputer 12 is included in the same control system. Only the rotation angle signal from the RDC 25 is used. Further, the microcomputer 12 may perform feedback control of the motor 18 based on a rotation angle signal output from at least one of the RDC 24 and the RDC 26. In principle, the microcomputer 12 is included in the same control system. Only the rotation angle signal from the RDC 26 is used.

  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 rotation angle sensor 19 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 RDC 23. The rotation angle sensor 20 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 RDC 24. The rotation angle sensor 21 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 RDC 25. The rotation angle sensor 22 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 RDC 26.

  The RDC 23 A / D converts the rotation angle signal output from the rotation angle sensor 19 into a digital format, and outputs the rotation angle signal after A / D conversion to each of the microcomputers 11 and 12. The RDC 24 A / D converts the rotation angle signal output from the rotation angle sensor 20 into a digital format, and outputs the rotation angle signal after A / D conversion to each of the microcomputers 11 and 12. The RDC 25 A / D converts the rotation angle signal output from the rotation angle sensor 21 into a digital format, and outputs the rotation angle signal after A / D conversion to each of the microcomputers 11 and 12. The RDC 26 A / D converts the rotation angle signal output from the rotation angle sensor 22 into a digital format, and outputs the rotation angle signal after A / D conversion to each of the microcomputers 11 and 12.

  Each of the gyro sensors 27 and 29 is an angular velocity (angular velocity around the pitch axis, pitch) when the passenger applies a load to the step cover 3 in the longitudinal direction of the inverted motorcycle 1 with respect to the longitudinal direction of the inverted motorcycle 1. Angular velocity) is detected, and angular velocity signals indicating the detected pitch angular velocity are output to the microcomputers 11 and 12, respectively.

  Each of the gyro sensors 29 and 30 detects an angular velocity around the yaw axis of the inverted motorcycle 1 (hereinafter also referred to as “yaw angular velocity”), and outputs an angular velocity signal indicating the detected yaw angular velocity to each of the microcomputers 11 and 12. .

  Here, when each of the microcomputers 11 and 12 is traveling on a slope inclined in the left-right direction of the inverted motorcycle 1, the microcomputer 11 and 12 correspond to the pitch angular velocity and the yaw angular velocity obtained from each angular velocity signal described above. By calculating the rotation matrix in this manner, the angular velocity around the horizontal axis of the inverted motorcycle 1 is calculated, and the motor 17 is maintained so that the inverted motorcycle 1 is maintained in the inverted state by using the calculated angular velocity as the pitch angular velocity. , 18 is generated. According to this, even when the inverted motorcycle 1 is traveling on a slope inclined in the left-right direction, the inverted motorcycle 1 is maintained in the inverted state based on the posture angle in the front-rear direction of the inverted motorcycle 1. It is also possible to control the inverted motorcycle 1.

  Further, each of the microcomputers 11 and 12 may perform control of another arbitrary inverted motorcycle 1 based on the yaw angular velocity indicated by the angular velocity signal output from each of the gyro sensors 28 and 30. For example, each of the microcomputers 11 and 12 has a yaw angular velocity indicated by an angular velocity signal output from each of the gyro sensors 28 and 30 exceeding a predetermined yaw angular velocity in order to prevent the inverted motorcycle 1 from turning sharply. When it is determined, a command value for controlling the motors 17 and 18 may be generated so that the inverted two-wheeled vehicle 1 does not turn at a higher yaw angular velocity.

  Next, the connection relationship between the sensors 19 to 22, 28 and 30, the RDCs 23 to 26 and the microcomputers 11 and 12 according to the embodiment will be described with reference to FIG. 3. FIG. 3 is a diagram illustrating a connection relationship between 19 to 22, 28 and 30, the RDCs 23 to 26, and the microcomputers 11 and 12 according to the embodiment.

  Here, each of the RDCs 23 to 26 generates a parallel signal and an AB phase signal (A phase signal and B phase signal) as rotation angle signals after A / D conversion. Specifically, the parallel signal is a signal indicating the rotation angle of the motors 17 and 18 as an absolute angle. The parallel signal indicates the rotation angle of the motors 17 and 18 at the time of output. The parallel signal is composed of, for example, 12 electric signals. The AB phase signal is a signal indicating the rotation angle of the motors 17 and 18 as a relative angle. The AB phase signal is a signal whose relative angle from the output start time can be calculated by counting pulses from the output start time (power-on time of the control device 10). The AB phase signal is composed of, for example, two electric signals indicating the A phase and the B phase. Instead of the AB phase signal, an RDC that outputs an ABZ signal (A phase signal, B phase signal, and Z phase signal) may be used.

  Each of the RDCs 23 and 24 is connected to the microcomputer 11 through a parallel signal line that transmits a parallel signal, and is connected to the microcomputer 12 through an AB phase signal line that transmits an AB phase signal. Each of the RDCs 25 and 26 is connected to the microcomputer 11 through an AB phase signal line that transmits an AB phase signal, and is connected to the microcomputer 12 through a parallel signal line that transmits a parallel signal.

  With this configuration, the microcomputer 11 causes the parallel signal indicating the rotation angle of the left motor 17 from the RDC 23, the parallel signal indicating the rotation angle of the right motor 18 from the RDC 24, and the left motor 17 from the RDC 25. An AB phase signal indicating the rotation angle and an AB phase signal indicating the rotation angle of the right motor 18 from the RDC 26 are received.

  The microcomputer 12 also outputs an AB phase signal indicating the rotation angle of the left motor 17 from the RDC 23, an AB phase signal indicating the rotation angle of the right motor 18 from the RDC 24, and a rotation angle of the left motor 17 from the RDC 25. And a parallel signal indicating the rotation angle of the right motor 18 from the RDC 26 are received.

  The gyro sensor 28 is connected to the microcomputer 11 through a signal line that transmits an angular velocity signal. The gyro sensor 30 is connected to the microcomputer 12 through a signal line that transmits an angular velocity signal. The microcomputer 11 and the microcomputer 12 are connected by a signal line that enables transmission and reception of arbitrary information between them.

  The microcomputer 11 receives an angular velocity signal indicating the yaw angular velocity of the inverted motorcycle 1 from the gyro sensor 28, generates angular velocity information indicating the yaw angular velocity, and outputs the angular velocity information to the microcomputer 12. The microcomputer 12 receives an angular velocity signal indicating the yaw angular velocity of the inverted motorcycle 1 from the gyro sensor 30, generates angular velocity information indicating the yaw angular velocity, and outputs the angular velocity information to the microcomputer 11.

  In the present embodiment, each of the microcomputers 11 and 12 compares the rotational angles and yaw angular velocities of the motors 17 and 18 derived based on the received signals and information with each other, so that the RDCs 23 to 26 and the gyro sensor 28 and 30 faults are detected, and a faulty RDC or gyro sensor is identified from among the faults. Each of the microcomputers 11 and 12 activates a predetermined safety function when a failure of the RDC or the gyro sensor is detected. That is, each of the microcomputers 11 and 12 degenerates the RDC or gyro sensor that is identified as malfunctioning, and continues the inversion control of the inverted motorcycle 1 using the normally operating RDC and gyro sensor. As described above, in the present embodiment, the malfunctioning RDC or gyro sensor can be identified, and the control of the inverted motorcycle 1 can be continued using the normally operating RDC and gyro sensor. Stability can be improved.

  Subsequently, a failure diagnosis process for the inverted motorcycle 1 according to the first embodiment will be described with reference to FIGS. 4 to 9. 4 to 9 are flowcharts showing a failure diagnosis process of the inverted motorcycle 1 according to the first embodiment.

  Hereinafter, a case where the failure diagnosis process is performed in the first-system microcomputer 11 will be described. However, the failure diagnosis process is similarly performed in the second-system microcomputer 12. First, an overview of the failure diagnosis process will be described with reference to FIG.

  The microcomputer 11 executes failure diagnosis logic when a predetermined failure diagnosis timing is reached (S1), and determines whether or not a failure has occurred in any of the RDCs 23 to 26 and the gyro sensors 28 and 30 ( S2). Here, the predetermined failure diagnosis timing is, for example, a timing at predetermined predetermined time intervals.

  If it is determined that no failure has occurred in any of the RDCs 23 to 26 and the gyro sensors 28 and 30 (S2: Yes), the microcomputer 11 determines that the inverted motorcycle 1 is operating normally, and the inverted motorcycle 1 The normal inversion control is continued (S3).

  If it is determined that a failure has occurred in any of the RDCs 23 to 26 and the gyro sensors 28 and 30 (S2: No), the microcomputer 11 performs processing according to the failure state (S4). That is, the microcomputer 11 degenerates the malfunctioning RDC or gyro sensor, and controls the inverted motorcycle 1 using the normally operating RDC and gyro sensor. Here, as this control, the inverted motorcycle 1 may be controlled to continuously run while being inverted, or the braking control may be performed to stop the inverted motorcycle 1 while being inverted.

  Next, details of the failure diagnosis process will be described with reference to FIGS. Hereinafter, a case where the failure diagnosis process is performed in the first-system microcomputer 11 will be described. However, the failure diagnosis process is similarly performed in the second-system microcomputer 12. In the case of implementation in the 2-system microcomputer 12, the relationship between the 1-system and the 2-system in FIGS. 5 to 8 and the description thereof is reversed and the same processing is performed, and thus the description thereof is omitted. First, the details of the failure diagnosis process will be described with reference to FIG. 5 corresponds to steps S1 and S2 in FIG. 4, step S16 in FIG. 5 corresponds to step S3 in FIG. 4, and steps S17 to S19 in FIG. This corresponds to step S4.

  The microcomputer 11 compares the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 of the first system with the rotation angles of the motors 17 and 18 notified from the RDCs 25 and 26 of the second system. It is determined whether or not there is a deviation of a predetermined angle or more in the rotation angle (S11).

  Specifically, the microcomputer 11 compares the rotation angle of the motor 17 indicated by the parallel signal output from the 1-system RDC 23 with the rotation angle of the motor 17 indicated by the AB phase signal output from the 2-system RDC 25. Then, it is determined whether or not the compared rotation angle has a deviation of a predetermined angle or more. Further, the microcomputer 11 compares the rotation angle of the motor 18 indicated by the parallel signal output from the 1-system RDC 24 with the rotation angle of the motor 18 indicated by the AB phase signal output from the 2-system RDC 26. It is determined whether or not there is a deviation of a predetermined angle or more in the rotation angle.

  When it is determined that the compared rotation angle has a deviation of a predetermined angle or more (mismatch) (S11: No), at least one of the RDCs 23 to 26 is out of order and the rotation angle of the motor is normally detected. Will not be able to. For example, when there is a deviation of a predetermined angle or more between the rotation angle of the motor 17 notified by the RDC 23 and the rotation angle of the motor 17 notified by the RDC 25, at least one of the RDC 23 and the RDC 25 is out of order. Further, when there is a deviation of a predetermined angle or more between the rotation angle of the motor 18 notified by the RDC 24 and the rotation angle of the motor 18 notified by the RDC 26, at least one of the RDC 24 and the RDC 26 has failed. In this case, the microcomputer 11 further performs a process of identifying the failed RDC, which will be described later with reference to FIG.

  When it is determined that the compared rotation angle is not shifted (matched) by more than a predetermined angle (S11: Yes), none of the RDCs 23 to 26 has failed, and the rotation angle of the motor can be normally detected. Yes. In this case, the microcomputer 11 determines whether or not the yaw angular velocity detected by the first system gyro sensor 28 and the yaw angular velocity detected by the second system gyro sensor 30 are more than a predetermined angle (S12).

  Specifically, the microcomputer 11 compares the yaw angular velocity indicated by the angular velocity signal output from the gyro sensor 27 with the yaw angular velocity indicated by the angular velocity information output from the microcomputer 12, and the compared yaw angular velocity is equal to or greater than a predetermined angle. It is determined whether or not there is a deviation. The angular velocity information output from the microcomputer 12 is information indicating the yaw angular velocity detected by the gyro sensor 30 as described above.

  When it is determined that the compared yaw angular velocities are misaligned by more than a predetermined angle (inconsistent) (S12: No), at least one of the gyro sensors 28 and 30 has failed and the yaw angular velocity is normally detected. Will not be able to. In this case, the microcomputer 11 further performs a process of identifying a faulty gyro sensor, which will be described later with reference to FIG.

  When it is determined that the compared yaw angular velocities are not shifted (matched) by more than a predetermined angle (S12: Yes), neither of the gyro sensors 28 and 30 has failed, and the yaw angular velocity can be detected normally. Will be. In this case, whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 of the first system and the yaw angular velocity detected by the first gyro sensor 28. Determine (S13).

  Specifically, the microcomputer 11 calculates the yaw angular velocity based on the rotation angle of the motor 17 indicated by the parallel signal output from the RDC 23 and the rotation angle of the motor 18 indicated by the parallel signal output from the RDC 24. The calculation of the yaw angular velocity based on the rotation angles of the motors 17 and 18 may be performed by any generally considered method in consideration of the diameter of the wheel 2 and the like. The same applies to the following description. The microcomputer 11 compares the calculated yaw angular velocity with the yaw angular velocity indicated by the angular velocity signal output from the gyro sensor 28, and determines whether or not the compared yaw angular velocity has a deviation of a predetermined angle or more.

  When it is determined that the compared yaw angular velocities are not shifted (matched) by more than a predetermined angle (S13: Yes), the microcomputer 11 determines the yaw angular velocities based on the rotation angles of the motors 17 and 18 notified from the two-system RDCs 24 and 26. Then, it is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity detected by the second system gyro sensor 30 (S14).

  Specifically, the microcomputer 11 calculates the yaw angular velocity based on the rotation angle of the motor 17 indicated by the AB phase signal output from the RDC 25 and the rotation angle of the motor 18 indicated by the AB phase signal output from the RDC 26. The microcomputer 11 compares the calculated yaw angular velocity with the yaw angular velocity indicated by the angular velocity information output from the microcomputer 12, and determines whether or not the compared yaw angular velocity has a deviation of a predetermined angle or more.

  When it is determined that the compared yaw angular velocities are not shifted (matched) by more than a predetermined angle (S14: Yes), none of the RDCs 23 to 26 has failed, and both the gyro sensors 28 and 30 have failed. There will be no. Therefore, none of the RDCs 23 to 26 and the gyro sensors 28 and 30 are broken, and the inverted motorcycle 1 is operating normally (S16). Therefore, the microcomputer 11 continues to control the inverted motorcycle 1 as it is.

  When it is determined that the compared yaw angular velocities are misaligned by more than a predetermined angle (no coincidence) (S14: No), it generally cannot occur. The yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 25 and 26 in a situation where it is determined in steps S11 and S12 that none of the RDCs 23 to 26 and the gyro sensors 28 and 30 have failed. This is because it is unlikely that the yaw angular velocities detected by the gyro sensor 30 do not match. Therefore, in this case, it is conceivable that a failure related to the microcomputer 11 has occurred so that the microcomputer 11 cannot operate normally and make a determination. Here, as a failure related to the microcomputer 11, for example, a failure of the (Random Access Memory) or ROM (Read Only Memory) of the microcomputer 11, a failure of a circuit that supplies a clock signal to the microcomputer 11, or a power supply of the microcomputer 11 There may be a failure. Therefore, the microcomputer 11 performs processing according to a failure related to the microcomputer 11 (S17).

  Specifically, the microcomputer 11 degenerates the microcomputer 11 and performs processing for controlling the inverted motorcycle 1 using only the microcomputer 12 that is operating normally. For example, the microcomputer 11 stops the control of the motors 17 and 18. That is, the one-system control system including the microcomputer 11 is degenerated. As a result, the control of the inverted motorcycle 1 by the two-system microcomputer 12 is continued without using the microcomputer 11 that is determined to have a related failure. In this case, the second-system microcomputer 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 outputs a failure notification signal for notifying a failure related to the 1-system microcomputer 11 to the microcomputer 12. The microcomputer 12 performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  On the other hand, when it is determined that the compared yaw angular velocities are shifted by a predetermined angle or more (mismatch) (S13: Yes), the microcomputer 11 receives the motors notified from the RDCs 25 and 26 of the second system, as in step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angles 17 and 18 and the yaw angular velocity detected by the second system gyro sensor 30 (S15).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (match) (S15: Yes), it generally cannot occur. Calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 in step S13 under the situation where it is determined that none of the RDCs 23 to 26 and the gyro sensors 28 and 30 have failed in steps S11 and S12. This is because it is unlikely that the yaw angular velocity and the yaw angular velocity detected by the gyro sensor 28 do not match. Therefore, in this case, it is considered that a failure related to the microcomputer 11 has occurred. Therefore, the microcomputer 11 performs a process according to a failure related to the microcomputer 11 (S18).

  Further, when it is determined that the compared yaw angular velocities are shifted by a predetermined angle or more (mismatch) (S15: No), it generally cannot occur. Calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23, 24 or 25, 26 under the situation where it is determined in steps S11, S12 that none of the RDCs 23 to 26 and the gyro sensors 28, 30 are malfunctioning. This is because it is unlikely that the yaw angular velocity and the yaw angular velocity detected by the gyro sensor 28 or the gyro sensor 30 do not coincide with each other. Therefore, in this case, it is considered that a failure related to the microcomputer 11 has occurred. Therefore, the microcomputer 11 performs a process according to a failure related to the microcomputer 11 (S19).

  Specifically, in steps S18 and S19, as in S17, the microcomputer 11 degenerates the microcomputer 11 that has determined that a related failure has occurred, and uses only the microcomputer 12 that is operating normally. Then, a process for controlling the inverted motorcycle 1 is performed.

  Next, details of the failure diagnosis process will be described with reference to FIG. The microcomputer 11 performs the process shown in FIG. 6 when it is determined that at least one of the gyro sensors 28 and 30 has failed in step S12 of FIG. Identify the sensor. Steps S21 to S23 in FIG. 6 correspond to steps S1 and S2 in FIG. 4, and steps S25 to S27 in FIG. 6 correspond to step S4 in FIG.

  Similarly to step S13 described above, the microcomputer 11 determines a predetermined angle between the yaw angular velocity based on the rotation angle of the motors 17 and 18 notified from the 1-system RDCs 23 and 24 and the yaw angular speed detected by the 1-system gyro sensor 28. It is determined whether or not there is the above deviation (S21).

  When it is determined that the compared yaw angular velocities are not shifted (matched) by a predetermined angle or more (S21: Yes), the microcomputer 11 receives the motors 17 notified from the RDCs 24 and 26 of the second system, similarly to step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the 18 rotation angles and the yaw angular velocity detected by the second system gyro sensor 30 (S22).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (match) (S22: Yes), it generally cannot occur. The yaw calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23, 24 or 25, 26 under the situation where at least one of the gyro sensors 28, 30 is determined to have failed in step S12. This is because it is unlikely that the angular velocity and the yaw angular velocity detected by the gyro sensor 28 or the gyro sensor 30 match each other. Therefore, in this case, it is considered that a failure related to the microcomputer 11 has occurred. Therefore, the microcomputer 11 performs a process according to a failure related to the microcomputer 11 (S24).

  Specifically, in step S24, as in S17, the microcomputer 11 degenerates the microcomputer 11 that has determined that a related failure has occurred, and uses only the microcomputer 12 that is operating normally. Processing for controlling the inverted motorcycle 1 is performed.

  When it is determined that the compared yaw angular velocities are not equal to or more than a predetermined angle (no coincidence) (S22: No), the yaw angular velocities detected by the gyro sensor 30 are the same as the yaw angular velocities detected by the gyro sensor 28 from Since the yaw angular velocity based on the notified rotation angles of the motors 17 and 18 does not match, the gyro sensor 30 is out of order and the yaw angular velocity cannot be normally detected. Therefore, the microcomputer 11 performs processing according to the failure of the gyro sensor 30 (S25).

  Specifically, the microcomputer 11 degenerates the gyro sensor 30 that has been determined to be malfunctioning, and controls the inverted motorcycle 1 using only the gyro sensor 28 that is operating normally. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the gyro sensor 30 to the microcomputer 12. The microcomputer 12 stops the control of the motors 17 and 18 according to the output of the failure notification signal from the microcomputer 11. That is, the two control systems including the failed gyro sensor 30 are degenerated. Thus, the microcomputer 11 controls the inverted motorcycle 1 using the 1-system RDCs 23 and 24 and the gyro sensor 28 without using the failed gyro sensor 30. In this case, the microcomputer 11 may perform braking control for stopping the inverted motorcycle 1.

  In addition, the microcomputer 12 may control the inverted motorcycle 1 without using the failed gyro sensor 30. For example, the microcomputer 12 subsequently controls the inverted motorcycle 1 based on the pitch angular velocity of the gyro sensor 28 indicated by the angular velocity information output from the microcomputer 11 in response to the output of the failure notification signal from the microcomputer 11. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  On the other hand, if it is determined that the compared yaw angular velocities are shifted by a predetermined angle or more (mismatch) (S22: Yes), the microcomputer 11 receives the motors notified from the RDCs 25 and 26 in the second system, as in step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angles 17 and 18 and the yaw angular velocity detected by the second system gyro sensor 30 (S23).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S23: Yes), the yaw angular velocities detected by the gyro sensor 28 are also notified from the RDCs 23 and 24 to the yaw angular velocities detected by the gyro sensor 30. Since it does not coincide with the yaw angular velocity based on the rotation angles of the motors 17 and 18, the gyro sensor 28 is out of order and the yaw angular velocity cannot be normally detected. Therefore, the microcomputer 11 performs processing according to the failure of the gyro sensor 28 (S26).

  Specifically, the microcomputer 11 degenerates the gyro sensor 28 determined to be malfunctioning, and controls the inverted motorcycle 1 using only the gyro sensor 30 that is operating normally. For example, the microcomputer 11 stops the control of the motors 17 and 18. That is, the one-system control system including the failed gyro sensor 28 is degenerated. Thus, the microcomputer 12 controls the inverted motorcycle 1 by the microcomputer 12 using the two-system RDCs 25 and 26 and the gyro sensor 30 without using the failed gyro sensor 28. In this case, the second-system microcomputer 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the gyro sensor 28 to the microcomputer 12. The microcomputer 12 performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  In addition, the microcomputer 11 may control the inverted motorcycle 1 without using the failed gyro sensor 28. For example, the microcomputer 11 thereafter controls the inverted motorcycle 1 based on the pitch angular velocity of the gyro sensor 30 indicated by the angular velocity information output from the microcomputer 12. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 performs braking control for stopping the inverted motorcycle 1 and outputs a failure notification signal for notifying the failure of the gyro sensor 28 to the microcomputer 12. The microcomputer 12 also performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  When it is determined that the compared yaw angular velocities have a deviation of a predetermined angle or more (S23: No), it is determined in step S11 that none of the RDCs 23 to 26 has failed, and in step S12, the gyro sensor 28, The yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 25 and the RDCs 24 and 26, respectively, and a gyro sensor Since the yaw angular velocities detected by each of 28 and 30 are inconsistent, both the gyro sensors 28 and 30 have failed (double failure), and the yaw angular velocities cannot be normally detected. It will be. Therefore, the microcomputer 11 performs a process according to the failure of the gyro sensors 28 and 30 (S27).

  Specifically, since both the first system gyro sensor 28 and the second system gyro sensor 30 have failed, the microcomputers 11 and 12 do not use the gyro sensors 28 and 30 in which the failure is detected. The inverted motorcycle 1 is controlled using the RDCs 23 to 26 in which no failure is detected. For example, the microcomputer 11 thereafter controls the inverted motorcycle 1 by using only the RDCs 23 and 24 in which no failure is detected, without using the gyro sensor 28 in which the failure is detected. Further, the microcomputer 11 outputs a failure notification signal for notifying the failure of the 1-system and 2-system gyro sensors 28 and 30 to the microcomputer 12. In response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 does not use the gyro sensor 30 in which the failure is detected, and uses only the RDCs 25 and 26 in which no failure is detected. Implement the control. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  The microcomputer 11 controls the inverted motorcycle 1 using the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 instead of the yaw angular velocity detected by the gyro sensor 28, The microcomputer 12 uses the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 25 and 26 instead of the yaw angular velocity detected by the gyro sensor 30 in response to the output of the failure notification signal from the microcomputer 11. Then, the inverted motorcycle 1 may be controlled. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  Next, details of the failure diagnosis process will be described with reference to FIG. If it is determined in step S11 of FIG. 5 that at least one of the RDCs 23 to 26 is malfunctioning, the microcomputer 11 performs the process shown in FIG. 7 to identify the malfunctioning RDC. To do. Steps S31 to S33 in FIG. 7 correspond to Steps S1 and S2 in FIG. 4, and Steps S36 to S38 in FIG. 7 correspond to Step S4 in FIG.

  The microcomputer 11 determines whether the yaw angular velocity detected by the first system gyro sensor 28 and the yaw angular velocity detected by the second system gyro sensor 30 are different from each other by a predetermined angle, similarly to step S12 described above. (S31).

  When it is determined that the compared yaw angular velocities are shifted by a predetermined angle or more (S31: No), at least one of the gyro sensors 28 and 30 has failed and the yaw angular velocities can be detected normally. There will be no. In other words, considering the determination result of step S11, at least one of the RDCs 23 to 26 has failed, and at least one of the gyro sensors 28 and 30 has failed. In this case, the microcomputer 11 further performs a process of identifying the faulty RDC and gyro sensor, which will be described later with reference to FIG.

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S31: Yes), none of the gyro sensors 28 and 30 have failed and the yaw angular velocities can be detected normally. Become. That is, considering the determination result in step S11, at least one of the RDCs 23 to 26 has failed, but neither of the gyro sensors 28 and 30 has failed. In this case, the microcomputer 11 determines the yaw angular velocity based on the rotation angles of the motors 17 and 18 notified from the 1-system RDCs 23 and 24 and the yaw angular velocity detected by the 1-system gyro sensor 28, as in step S13 described above. It is determined whether or not there is a deviation greater than a predetermined angle (S32).

  If it is determined that the compared yaw angular velocities are not misaligned by a predetermined angle or more (S32: Yes), the microcomputer 11 rotates the motors 17 and 18 notified from the RDCs 25 and 26 of the second system, similarly to step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the angle and the yaw angular velocity detected by the second system gyro sensor 30 (S33).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S33: Yes), generally this cannot occur. In a situation where it is determined in step S11 that at least one of the RDCs 23 to 26 has failed and it is determined in step S12 that none of the gyro sensors 28 and 30 has failed, the RDC 23 25, and the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 24 and 26 and the yaw angular velocity detected by the gyro sensors 28 and 30 are unlikely to coincide with each other. . Therefore, in this case, it is considered that a failure related to the microcomputer 11 has occurred. Therefore, the microcomputer 11 performs a process according to a failure related to the microcomputer 11 (S35).

  Specifically, in step S35, similarly to S17, the microcomputer 11 degenerates its own microcomputer 11 that has determined that a related failure has occurred, and uses only the microcomputer 12 that is operating normally. Processing for controlling the inverted motorcycle 1 is performed.

  When it is determined that the compared yaw angular velocity has a deviation of a predetermined angle or more (S33: No), the rotation angle of the motor 17 or 18 notified from the RDC 25 or 26 is the rotation angle of the motor 17 or 18 notified from the RDC 23 or 24. Since the yaw angular velocity based on the rotation angle of the motor 17 or 18 notified from the RDC 25 or 26 does not coincide with the yaw angular velocity detected by the gyro sensor 26, the RDC 25 or 26 fails. Therefore, the rotation angle of the motor 17 or 18 cannot be normally detected. Specifically, if it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, the RDC 25 is out of order. (Including failure of the rotation angle sensor 21). If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 notified from the RDC 24 and the rotation angle of the motor 18 notified from the RDC 26, the RDC 26 has failed (rotation). Including failure of the angle sensor 22). Therefore, the microcomputer 11 performs processing according to the failure of the RDC 25 or 26 (S36).

  Specifically, the microcomputer 11 degenerates the RDC 25 or 26 that has been determined to be faulty, and controls the inverted motorcycle 1 using only the RDC 23 or 24 that is operating normally. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDC 25 or 26 to the microcomputer 12. The microcomputer 12 stops the control of the motors 17 and 18 according to the output of the failure notification signal from the microcomputer 11. That is, the two control systems including the failed RDC 25 or 26 are degenerated. Thus, the microcomputer 11 controls the inverted motorcycle 1 using the 1-system RDCs 23 and 24 and the gyro sensor 28 without using the failed RDC 25 or 26. In this case, the microcomputer 11 may perform braking control for stopping the inverted motorcycle 1.

  Further, the microcomputer 12 may control the inverted motorcycle 1 without using the failed RDC 25 or 26. For example, in response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 thereafter turns the inverted motorcycle based on the rotation angles of the motors 17 and 18 indicated by the rotation angle signals output from the 1-system RDCs 23 and 24. 1 control is implemented. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  On the other hand, when it is determined that the compared yaw angular velocities are not displaced by a predetermined angle or more (S32: No), the microcomputer 11 receives the motors 17, 18 notified from the RDCs 25, 26 of the second system, similarly to step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angle and the yaw angular velocity notified from the second system gyro sensor 30 (S34).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S34: Yes), the rotation angle of the motor 17 or 18 notified from the RDC 23 or 24 is the rotation angle of the motor 17 or 18 notified from the RDC 25 or 26. Since the yaw angular velocity based on the rotation angle of the motor 17 or 18 notified from the RDC 23 or 24 does not coincide with the yaw angular velocity detected by the gyro sensor 24, the RDC 23 or 24 fails. Therefore, the rotation angle of the motor 17 or 18 cannot be normally detected. Specifically, if it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, the RDC 23 is out of order. (Including failure of the rotation angle sensor 19). If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 notified from the RDC 24 and the rotation angle of the motor 18 notified from the RDC 26, the RDC 24 is out of order (rotation). Including failure of the angle sensor 20). Therefore, the microcomputer 11 performs processing according to the failure of the RDC 23 or 24 (S36).

  Specifically, the microcomputer 11 degenerates the RDC 23 or 24 that has been determined to be malfunctioning, and controls the inverted motorcycle 1 using only the RDC 25 or 26 that is operating normally. For example, the microcomputer 11 stops the control of the motors 17 and 18. That is, the one control system including the failed RDC 23 or 24 is degenerated. Thus, the microcomputer 12 controls the inverted motorcycle 1 using the two-system RDCs 25 and 26 and the gyro sensor 26 without using the failed RDC 23 or 24. In this case, the second-system microcomputer 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the 1-system RDC 23 or 24 to the microcomputer 12. The microcomputer 12 performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  Further, the microcomputer 11 may control the inverted motorcycle 1 without using the failed RDC 23 or 24. For example, the microcomputer 11 subsequently controls the inverted motorcycle 1 based on the rotation angles of the motors 17 and 18 indicated by the rotation angle signals output from the RDCs 25 and 26 of the second system. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 performs braking control for stopping the inverted motorcycle 1 and outputs a failure notification signal for notifying the failure of the RDC 23 or 24 to the microcomputer 12. The microcomputer 12 also performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  When it is determined that the compared yaw angular velocities have a deviation of a predetermined angle or more (S34: No), it is determined in step S11 that at least one of the RDCs 23 to 26 has failed, and in step S12. The yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 25 and the RDCs 24 and 26, respectively, and the gyro sensor in a situation where it is determined that neither of the gyro sensors 28 and 30 has failed. Since both the yaw angular velocities detected by 28 and 30 are inconsistent, both RDCs 23 and 25 or both RDCs 24 and 26 have failed (double failure), and the motor 17 or 18 is normally operated. This means that the rotation angle cannot be detected. Specifically, if it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, both of the RDCs 23 and 25 fail. (Including failure of the rotation angle sensors 19 and 21). If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 notified from the RDC 24 and the rotation angle of the motor 18 notified from the RDC 26, both of the RDCs 24 and 26 have failed. (Including failure of the rotation angle sensors 20 and 22). Therefore, the microcomputer 11 performs processing according to the failure of the RDCs 23 and 25 or the RDCs 24 and 26 (S38).

  Specifically, the microcomputers 11 and 12 control the inverted motorcycle 1 using only the RDCs 23 and 25 or the RDCs 24 and 26 that are operating normally because the RDCs 23 and 25 or the RDCs 24 and 26 have failed. To implement.

  For example, when the RDCs 23 and 25 are out of order, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDCs 23 and 25 to the microcomputer 12 and thereafter does not use the RDCs 23 and 25 in which the failure is detected. The inverted motorcycle 1 is controlled by driving only the motor 18 based on the rotation angles of the motor 18 indicated by the angular velocity signals output from the RDCs 24 and 26 in which no failure is detected. In response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 does not use the RDCs 23 and 25 in which the failure has been detected, and the angular velocity signals output from the RDCs 24 and 26 in which no failure has been detected are indicated. The inverted motorcycle 1 is controlled by driving only the motor 18 based on each rotation angle of the motor 18. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  For example, when the RDCs 24 and 26 are out of order, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDCs 24 and 26 to the microcomputer 12, and thereafter, the RDCs 24 and 26 in which the failure is detected are not used. In addition, the inverted motorcycle 1 is controlled by driving only the motor 17 based on the rotation angles of the motor 17 indicated by the angular velocity signals output from the RDCs 23 and 25 in which no failure is detected. In response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 does not use the RDCs 24 and 26 in which the failure is detected, and the motor 17 indicated by the angular velocity signal output from the RDCs 23 and 25 in which no failure is detected. The inverted motorcycle 1 is controlled by driving only the motor 17 based on each of the rotation angles. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  Next, details of the failure diagnosis process will be described with reference to FIG. The microcomputer 11 determines that at least one of the RDCs 23 to 26 has failed at step S11 in FIG. 5 and at least one of the gyro sensors 28 and 30 at step S31 in FIG. Moreover, when it is determined that there is a malfunction, the malfunctioning RDC and gyro sensor are identified by executing the processing shown in FIG. Steps S41 to S43 in FIG. 8 correspond to Steps S1 and S2 in FIG. 4, and Steps S45 to S47 in FIG. 8 correspond to Step S4 in FIG.

  Similarly to step S13 described above, the microcomputer 11 determines a predetermined angle between the yaw angular velocity based on the rotation angle of the motors 17 and 18 notified from the 1-system RDCs 23 and 24 and the yaw angular speed detected by the 1-system gyro sensor 28. It is determined whether or not there is any deviation (S41).

  If it is determined that the compared yaw angular velocities are not misaligned by a predetermined angle or more (S41: Yes), the microcomputer 11 rotates the motors 17 and 18 notified from the RDCs 25 and 26 of the second system, similarly to step S14 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the angle and the yaw angular velocity detected by the second system gyro sensor 30 (S42).

  When it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S42: Yes), generally this cannot occur. A situation in which at least one of the RDCs 23 to 26 is determined to be malfunctioning in step S11 and at least one of the gyro sensors 28 and 30 is determined to be malfunctioning in step S12. This is because it is unlikely that the yaw angular velocities calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 to 26 and the yaw angular velocities detected by the gyro sensors 28 and 30 are the same. Therefore, in this case, it is considered that a failure related to the microcomputer 11 has occurred. Therefore, the microcomputer 11 performs processing according to a failure related to the microcomputer 11 (S44).

  Specifically, in step S44, as in S17, the microcomputer 11 degenerates the microcomputer 11 that has determined that a related failure has occurred, and uses only the microcomputer 12 that is operating normally. Processing for controlling the inverted motorcycle 1 is performed.

  When it is determined that the compared yaw angular velocities have a deviation of a predetermined angle or more (S42: No), it is determined in step S11 that at least one of the RDCs 23 to 26 has failed, and in step S12. In a situation where it is determined that at least one of the gyro sensors 28 and 30 is out of order, the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24, and the gyro sensor 28 Although the detected yaw angular velocity matches, the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 25 and 26 and the yaw angular velocity detected by the gyro sensor 30 are inconsistent. 26, and the gyro sensor 30 has failed (double failure). Specifically, if it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, the RDC 25 (failure of the rotation angle sensor 21). And the gyro sensor 30 is faulty. If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 detected by the RDC 24 and the rotation angle of the motor 18 detected by the RDC 26, the RDC 26 (including a failure of the rotation angle sensor 22) and the gyro The sensor 30 has failed. Therefore, the microcomputer 11 performs processing according to the failure of the RDC 25 or 26 and the gyro sensor 30 (S45).

  Specifically, the microcomputer 11 degenerates the RDC 25 or 26 and the gyro sensor 30 determined to be malfunctioning, and uses only the normally operating RDCs 23 and 24 and the gyro sensor 28 to turn the inverted motorcycle 1. Implement the control. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDC 25 or 26 and the gyro sensor 30 to the microcomputer 12. The microcomputer 12 stops the control of the motors 17 and 18 according to the output of the failure notification signal from the microcomputer 11. That is, the two control systems including the failed RDC 25 or 26 and the gyro sensor 30 are degenerated. Thereby, the microcomputer 11 controls the inverted motorcycle 1 using the RDCs 23 and 24 and the gyro sensor 28 of the first system without using the failed RDC 25 or 26 and the gyro sensor 26. In this case, the microcomputer 11 may perform braking control for stopping the inverted motorcycle 1.

  In addition, the microcomputer 12 may control the inverted motorcycle 1 without using the failed RDC 25 or 26 and the gyro sensor 30. For example, the microcomputer 12 responds to the output of the failure notification signal from the microcomputer 11, and thereafter the rotation angles of the motors 17 and 18 indicated by the rotation angle signals output from the 1-system RDCs 23 and 24, The inverted motorcycle 1 is controlled based on the pitch angular velocity of the gyro sensor 28 indicated by the output angular velocity information. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  On the other hand, when it is determined that the compared yaw angular velocities have a deviation of a predetermined angle or more (S41: No), the microcomputer 11 receives the motors 17 and 18 notified from the RDCs 25 and 26 of the second system, similarly to step S22 described above. It is determined whether or not there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angle and the yaw angular velocity detected by the second system gyro sensor 30 (S43).

  If it is determined that the compared yaw angular velocities are not shifted by a predetermined angle or more (S43: Yes), it is determined in step S11 that at least one of the RDCs 23 to 26 has failed, and in step S12. The yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 25 and 26 under the situation where at least one of the gyro sensors 28 and 30 is determined to have failed, and the gyro sensor 30 Although the detected yaw angular velocity matches, the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 and the yaw angular velocity detected by the gyro sensor 28 are inconsistent. 24 and the gyro sensor 28 are in failure (double failure). Specifically, if it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, the RDC 23 (failure of the rotation angle sensor 19). And the gyro sensor 28 is broken. If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 notified from the RDC 24 and the rotation angle of the motor 18 notified from the RDC 26, the RDC 24 (including a failure of the rotation angle sensor 20). And the gyro sensor 28 is out of order. Therefore, the microcomputer 11 performs processing according to the failure of the RDC 23 or 24 and the gyro sensor 28 (S46).

  Specifically, the microcomputer 11 degenerates the RDC 23 or 24 and the gyro sensor 28 that are determined to be malfunctioning, and uses only the normally operating RDCs 25 and 26 and the gyro sensor 30 to turn the inverted motorcycle 1. Implement the control. For example, the microcomputer 11 stops the control of the motors 17 and 18. That is, the one-system control system including the failed RDC 23 or 24 and the gyro sensor 28 is degenerated. Thus, the microcomputer 12 controls the inverted motorcycle 1 using the RDCs 25 and 26 and the gyro sensor 30 of the second system without using the failed RDC 23 or 24 and the gyro sensor 28. In this case, the second-system microcomputer 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 outputs a failure notification signal for notifying the failure of the 1-system RDC 23 or 24 and the gyro sensor 28 to the microcomputer 12. The microcomputer 12 performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  Further, the microcomputer 11 may control the inverted motorcycle 1 without using the failed RDC 23 or 24 and the gyro sensor 28. For example, the microcomputer 11 thereafter determines the pitch angular velocity of the gyro sensor 30 indicated by each of the rotation angles of the motors 17 and 18 indicated by the rotation angle signals output from the two-system RDCs 25 and 26 and the angular velocity information output from the microcomputer 12. Based on the above, the control of the inverted motorcycle 1 is performed. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1. For example, the microcomputer 11 performs braking control for stopping the inverted motorcycle 1 and outputs a failure notification signal for notifying the failure of the RDC 23 or 24 and the gyro sensor 28 to the microcomputer 12. The microcomputer 12 also performs braking control for stopping the inverted motorcycle 1 in accordance with the output of the failure notification signal from the microcomputer 11.

  When it is determined that the compared yaw angular velocities have a deviation of a predetermined angle or more (S43: No), it is determined in step S11 that at least one of the RDCs 23 to 26 has failed, and in step S12. The yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 25 and the RDCs 24 and 26 under a situation where at least one of the gyro sensors 28 and 30 is determined to be malfunctioning; Since the yaw angular velocities detected by the gyro sensors 28 and 30 are all inconsistent, the RDC 23 or 25, the RDC 24 or 26, and the gyro sensors 28 and 30 are in failure (quadruple failure). Specifically, when it is determined in step S11 that there is a difference between the rotation angle of the motor 17 notified from the RDC 23 and the rotation angle of the motor 17 notified from the RDC 25, the RDC 23, 25 (the rotation angle sensor 19). , 21), and the gyro sensor 28 is broken. If it is determined in step S11 that there is a difference between the rotation angle of the motor 18 notified from the RDC 24 and the rotation angle of the motor 18 notified from the RDC 26, the RDC 24, 26 (the rotation angle sensors 20, 22). And the gyro sensor 28 is faulty. Therefore, the microcomputer 11 performs processing according to the failure of the RDCs 23 and 25 or the RDCs 24 and 26 and the gyro sensors 28 and 30 (S47).

  Specifically, since both the RDC 23, 25 or RDC 24, 26 and the gyro sensors 28, 30 have failed, the microcomputer 11 has the RDC 23, 25 or RDC 24, 26 in which the failure has been detected, and the gyro sensor. The inverted motorcycle 1 is controlled using only the RDCs 23 and 25 or the RDCs 24 and 26 that are operating normally without using both 28 and 30.

  For example, when the RDCs 23 and 25 and the gyro sensors 28 and 30 are out of order, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDCs 23 and 25 and the gyro sensors 28 and 30 to the microcomputer 12, and thereafter The RDCs 23 and 25 and the gyro sensors 28 and 30 that are detected are not used, and only the motor 18 is based on the rotation angles of the motor 18 indicated by the angular velocity signals that are output from the RDCs 24 and 26 that are not detected as malfunctioning. The inverted motorcycle 1 is controlled by driving. In response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 does not use the RDCs 23 and 25 and the gyro sensors 28 and 30 in which the failure is detected and outputs from the RDCs 24 and 26 in which no failure is detected. The inverted motorcycle 1 is controlled by driving only the motor 18 based on each rotation angle of the motor 18 indicated by the angular velocity signal. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  For example, when the RDCs 24 and 26 and the gyro sensors 28 and 30 are out of order, the microcomputer 11 outputs a failure notification signal for notifying the failure of the RDCs 24 and 26 and the gyro sensors 28 and 30 to the microcomputer 12, and thereafter. The RDCs 24 and 26 in which the failure is detected and the gyro sensors 28 and 30 are not used, and the motors are based on the rotation angles of the motor 17 indicated by the angular velocity signals output from the RDCs 23 and 25 in which no failure is detected. Control of the inverted motorcycle 1 is carried out by driving only 17. In response to the output of the failure notification signal from the microcomputer 11, the microcomputer 12 does not use the RDCs 24 and 26 in which the failure is detected and the gyro sensors 28 and 30 and outputs from the RDCs 23 and 25 in which no failure is detected. Based on the rotation angles of the motor 17 indicated by the angular velocity signal, the inverted motorcycle 1 is controlled by driving only the motor 17. In this case, the microcomputers 11 and 12 may perform braking control for stopping the inverted motorcycle 1.

  As described above, each of the microcomputers 11 and 12 is detected by the first rotation angle detection unit (e.g., corresponding to the set of the RDC 23 and the rotation angle sensor 19 or the set of the RDC 24 and the rotation angle sensor 20). The rotation angle of the motor 17 or 18 detected by the rotation angle of the motor 17 or 18 and the second rotation angle detection unit (e.g., equivalent to the set of the RDC 25 and the rotation angle sensor 21 or the set of the RDC 26 and the rotation angle sensor 22). Inverted two-wheeled vehicle 1 (coaxial two-wheel moving body) calculated based on the first comparison (e.g., corresponding to S11) and the rotation angle of the motor 17 or 18 detected by the first rotation angle detector. The second comparison (for example, comparing the yaw angular velocity of the two-wheeled vehicle 1 (coaxial two-wheel moving body) detected by the yaw angular velocity detection sensor (for example, equivalent to the gyro sensor 28) (for example, And so as to implement the corresponding) to 32. And each of the microcomputers 11 and 12 is based on the result of the 1st comparison and the 2nd comparison, and the rotation angle which has become abnormal among the 1st rotation angle detection part and the 2nd rotation angle detection part. The detection unit is detected, and the inverted motorcycle 1 (coaxial two-wheeled moving body) is controlled according to the detection result.

  According to this, among the first rotation angle detection unit and the second rotation angle detection unit, an abnormal rotation angle detection unit is specified, and the inverted two-wheeled vehicle 1 (coaxial two-wheeled mobile body according to the result) ) Can be controlled. That is, dynamic stability can be improved.

<Modification of Embodiment of Invention>
In the above embodiment, the comparison of the rotation angle of the motor notified from the RDC (S11) is performed, and then the comparison of the yaw angular velocity detected by the gyro sensor (S12) is performed. The comparison of the yaw angular velocity detected by the sensor (S12) may be performed, and then the comparison of the rotation angle of the motor notified from the RDC (S11) may be performed. In this case, when it becomes Yes in S12, S11 will be implemented. Further, in this case, No is obtained in S11, and when the flow illustrated in FIG. 7 is performed, the process of S31 is not necessary. Instead, when S12 is No, the process of S11 may be performed. And when it becomes Yes by that S11, the process after S21 of FIG. 6 should be implemented, and the process shown in FIG. 8 should just be implemented when it becomes No by that S11.

  Further, in FIG. 5, when the answer is Yes in S <b> 12, none of the RDCs 23 to 26 has failed and neither of the gyro sensors 28 and 30 has failed. Therefore, the process of S16 may be performed when the process of S13 to S15 is not performed and the answer is Yes in S12.

  Also, it is generally difficult to think that double or more failures occur. For this reason, in the above-described failure diagnosis processing, the processing for separating double or more failures may be omitted.

  For example, in FIG. 6, S22 and S23 may not be performed. When the answer is YES in S21, the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 under the condition that at least one of the gyro sensors 28 and 30 is determined to be malfunctioning in Step S12. Since the yaw angular velocity calculated from the above and the yaw angular velocity detected by the gyro sensor 28 coincide with each other, the gyro sensor 28 has not failed. That is, the failure of the second system gyro sensor 30 is specified by the erasing method. Therefore, when it becomes Yes in S21, you may make it implement the process of S25.

  In addition, when the answer is No in S21, the motors 17 and 18 notified from the RDCs 23 and 24 in a situation where at least one of the gyro sensors 28 and 30 is determined to have failed in Step S12. Since the yaw angular velocity calculated from the rotation angle and the yaw angular velocity detected by the gyro sensor 28 do not coincide with each other, the 1-system gyro sensor 28 is out of order. Therefore, when it becomes No in S21, you may make it implement the process of S26.

  Moreover, in FIG. 7, S31 may not be implemented and you may make it implement from S32. That is, the process of FIG. 8 regarding the separation of two or more faults may not be performed.

  Further, S33 and S34 may not be performed. When the answer is Yes in S32, the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 under the situation where at least one of the RDCs 23 to 26 is out of order in the step S11; Since the yaw angular velocities detected by the gyro sensor 28 coincide with each other, the 1-system RDCs 23 and 24 are not in failure. That is, the failure of the second system RDC 25 or 26 is specified by the erasing method. Therefore, when it becomes Yes in S33, you may make it implement the process of S36.

  If the answer is No in S32, the yaw angular velocity calculated from the rotation angles of the motors 17 and 18 notified from the RDCs 23 and 24 in a state where at least one of the RDCs 23 to 26 has failed in Step S11. Since the yaw angular velocities detected by the gyro sensor 28 do not coincide with each other, the 1-system RDCs 23 and 24 are out of order. Therefore, when it becomes No at S33, the process at S37 may be performed.

  Further, in S14, S15, S22, S23, S33, S34, S42, and S43, any one of the conditions may be determined based on the alternative condition as long as it is a condition that can specify the fault present.

  For example, in S22 and S23 of FIG. 6, any conditions may be used as long as the failure of the gyro sensors 28 and 30 can be isolated. Therefore, as an alternative condition, for example, there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angle of the motors 17 and 18 notified from the 1-system RDCs 23 and 24 and the yaw angular speed detected by the 2-system gyro sensor 30. You may make it determine whether it exists.

  Further, for example, in S33 and S34 of FIG. 7, any conditions may be used as long as the failure of the RDCs 23 to 26 can be isolated. Therefore, as an alternative condition, for example, there is a deviation of a predetermined angle or more between the yaw angular velocity based on the rotation angle of the motors 17 and 18 notified from the second system RDCs 25 and 26 and the yaw angular velocity detected by the first system gyro sensor 28. You may make it determine whether it exists.

<Other embodiments of the invention>
In the above embodiment, the example using the RDCs 23 to 26 that generate and output both the parallel signal and the AB phase signal as the rotation angle signal has been described. However, as illustrated in FIG. RDC that generates and outputs only the AB phase signal or only the AB phase signal may be used in combination as the RDCs 23 to 26. Further, FIG. 9 illustrates the case where there are two RDCs that generate and output only parallel signals and two RDCs that generate and output only AB phase signals, but the ratio of each RDC is as follows. Not limited to. For example, there may be one RDC that generates and outputs only parallel signals, three RDCs that generate and output only AB phase signals, three RDCs that generate and output only parallel signals, and AB phase signals. Only one RDC may be generated / output. Also, all RDCs may be RDCs that generate and output only parallel signals, and all RDCs may be RDCs that generate and output only AB phase signals.

  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 microcomputers 11 and 12 perform the failure diagnosis process, but only one of them may execute the failure diagnosis process. However, preferably, both the microcomputers 11 and 12 execute the failure diagnosis process, so that the failure detection accuracy can be further improved.

  In the above embodiment, an example using the RDCs 23 to 26 has been described. However, a general engineering encoder or the like may be used.

DESCRIPTION OF SYMBOLS 1 Inverted motorcycle 2 Wheel 3 Step cover 10 Controller 11, 12 Microcontroller 13, 14, 15, 16 Inverter 17, 18 Motor 19, 20, 21, 22 Rotation angle sensor 23, 24, 25, 26 Resolver-digital converter 27, 28, 29, 30 Gyro sensor

Claims (11)

A coaxial two-wheel moving body that moves by rotating a wheel,
A motor for rotating the wheel;
A first rotation angle detector for detecting a rotation angle of the motor;
A second rotation angle detector for detecting the rotation angle of the motor;
A yaw angular velocity detection sensor for detecting a yaw angular velocity of the coaxial two-wheel moving body;
The coaxial two-wheel moving body is controlled by driving the motor based on at least one of the rotation angles of the motor detected by each of the first rotation angle detection unit and the second rotation angle detection unit. A control unit,
The controller is
A first comparison comparing the rotation angle of the motor detected by the first rotation angle detection unit and the rotation angle of the motor detected by the second rotation angle detection unit; and
The yaw angular velocity of the coaxial two-wheel moving body calculated based on the rotation angle of the motor detected by the first rotation angle detecting unit is compared with the yaw angular velocity of the coaxial two-wheel moving body detected by the yaw angular velocity detecting sensor. To perform a second comparison
Based on the results of the first comparison and the second comparison, an abnormal rotation angle detection unit is detected among the first rotation angle detection unit and the second rotation angle detection unit, Control the coaxial two-wheel moving body according to the detection result,
Coaxial two-wheel moving body. The yaw angular velocity detection sensor is a first yaw angular velocity detection sensor,
The coaxial two-wheel moving body further includes a second yaw angular velocity detection sensor that detects a yaw angular velocity of the coaxial two-wheel moving body,
The control unit further includes:
A third comparison is performed in which the yaw angular velocity of the coaxial two-wheel moving body detected by the first yaw angle detection sensor is compared with the yaw angular velocity of the coaxial two-wheel moving body detected by the second yaw angular velocity detection sensor. And
Based on the results of the second comparison and the third comparison, an abnormal yaw angular velocity detection sensor is detected from the first yaw angular velocity detection sensor and the second yaw angular velocity detection sensor, Control the coaxial two-wheel moving body according to the detection result,
The coaxial two-wheel moving body according to claim 1. The controller is
When it is determined in the first comparison that the rotation angles of the compared motors do not match, and in the second comparison, it is determined that the compared yaw angular velocities match, the second rotation angle detection unit Is determined to be abnormal,
When it is determined in the first comparison that the rotation angles of the compared motors do not match, and in the second comparison, it is determined that the compared yaw angular velocities do not match, the first rotation angle detection Determine that the part is abnormal,
The coaxial two-wheel moving body according to claim 1 or 2. The controller is
If it is determined in the third comparison that the compared yaw angular velocities do not match, and the second comparison determines that the compared yaw angular velocities match, the second yaw angular velocity detection sensor is abnormal. It is determined that
If it is determined in the third comparison that the compared yaw angular velocities do not match and the second comparison determines that the compared yaw angular velocities do not match, the first yaw angular velocity detection sensor is Judge that it is abnormal,
The coaxial two-wheel moving body according to claim 2. The wheel is a first wheel;
The motor is a first motor that rotates the first wheel;
The coaxial two-wheeled vehicle further includes:
A second wheel;
A second motor for rotating the second wheel of the coaxial two-wheel moving body;
A third rotation angle detector for detecting the rotation angle of the second motor;
A fourth rotation angle detector that detects a rotation angle of the second motor,
The control unit controls the second motor based on at least one of the rotation angles of the second motor detected by the third rotation angle detection unit and the fourth rotation angle detection unit. By controlling the coaxial two-wheel moving body by driving,
In the second comparison, the control unit detects the rotation of the first motor detected by the first rotation angle detection unit as the yaw angular velocity of the coaxial two-wheel moving body calculated based on the rotation angle of the motor. And the yaw angular velocity of the coaxial two-wheel moving body calculated based on the angle and the rotation angle of the second motor detected by the third rotation angle detection unit,
The coaxial two-wheel moving body according to any one of claims 1 to 4. The control unit further includes:
Performing a fourth comparison comparing the rotation angle of the motor detected by the third rotation angle detection unit and the rotation angle of the motor detected by the fourth rotation angle detection unit;
Based on the results of the fourth comparison and the second comparison, an abnormal rotation angle detection unit is detected among the third rotation angle detection unit and the fourth rotation angle detection unit, Control the coaxial two-wheel moving body according to the detection result,
The coaxial two-wheel moving body according to claim 5. The controller is
When it is determined in the fourth comparison that the rotation angles of the compared motors do not match, and in the second comparison, it is determined that the compared yaw angular velocities match, the fourth rotation angle detection unit Is determined to be abnormal,
If it is determined in the fourth comparison that the rotation angles of the compared motors do not match, and the second comparison determines that the compared yaw angular velocities do not match, the third rotation angle detection Determine that the part is abnormal,
The coaxial two-wheel moving body according to claim 6. Each of the control units has a first control unit and a second control unit that control the coaxial two-wheel moving body,
The coaxial two-wheel moving body includes a first control system including the first rotation angle detection unit, the third rotation angle detection unit, and the first control unit, the second rotation angle detection unit, A fourth rotation angle detection unit, and a second control system including the second control unit,
The controller is
When an abnormality is detected in the first rotation angle detection unit or the third rotation angle detection unit included in the first control system, the first control system is degenerated and the second control system Control the coaxial two-wheel moving body,
When an abnormality is detected in the second rotation angle detection unit or the fourth rotation angle detection unit included in the second control system, the second control system is degenerated and the first control system Control coaxial two-wheeled vehicle,
The coaxial two-wheel moving body according to claim 6 or 7. Each of the first rotation angle detection unit and the third rotation angle detection unit outputs a parallel signal indicating the detected rotation angle of the first motor to the first control unit, and detects the detected signal. An AB phase signal indicating the rotation angle of the first motor is output to the second control unit;
Each of the second rotation angle detection unit and the fourth rotation angle detection unit outputs an AB phase signal indicating the detected rotation angle of the second motor to the first control unit, and the detection. A parallel signal indicating the rotation angle of the second motor is output to the second control unit;
The first control unit includes the first rotation angle detection unit and the third rotation angle detection unit as the rotation angle of the first motor detected by the first rotation angle detection unit and the third rotation angle detection unit, respectively. Each of the second rotation angle detection unit and the fourth rotation angle detection unit uses the rotation angle of the first motor indicated by the parallel signal output from each of the third rotation angle detection units. As the detected rotation angle of the second motor, the rotation angle of the second motor indicated by the AB phase signal output from each of the second rotation angle detection unit and the fourth rotation angle detection unit is used. And performing the first comparison, the second comparison, and the fourth comparison,
The coaxial two-wheel moving body according to claim 8. When the control unit detects the rotation angle detection unit that is abnormal, the control unit performs a braking control to stop the coaxial two-wheel moving body,
The coaxial two-wheel moving body according to any one of claims 1 to 9. Coaxial two-wheels that move by rotating the wheel by driving the motor based on at least one of the rotation angles of the motor detected by each of the first rotation angle detection unit and the second rotation angle detection unit. A control method for controlling a moving body,
A first comparison comparing the rotation angle of the motor detected by the first rotation angle detection unit and the rotation angle of the motor detected by the second rotation angle detection unit; and
The yaw angular velocity of the coaxial two-wheel moving body calculated based on the rotation angle of the motor detected by the first rotation angle detecting unit is compared with the yaw angular velocity of the coaxial two-wheeled moving body detected by the yaw angular velocity detecting unit. Performing a second comparison;
A step of detecting an abnormal rotation angle detection unit among the first rotation angle detection unit and the second rotation angle detection unit based on the results of the first comparison and the second comparison. When,
Controlling the coaxial two-wheel moving body according to the detection result;
Control method with.

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