平行二輪車の姿勢制御に関する研究(第2報) : 実験結果

概要

論文の詳細を見る
In the previous paper, a method and simulation on the nonlinear postural control of a twin cycle which has a twin wheel on its driving axis and a controlling arm suspended from the upper structure of the vehicle have been reported. This paper describes the experimental systems and results obtained with the developed twin cycle. Experiments show that the vertical posture of the vehicle can be stabilized by the two ways, one is a nonlinear control with the controlling arm, the another is a linear control with which the twin wheel exerts restoring torque on the vehicle. Furthermore, driving control of the vehicle has been attained by the cooperative use of the wheels together with the controlling arm based on the model matching method proposed in the previous paper.
公益社団法人精密工学会の論文
1988-09-05