低速時における二輪車の最適予見軌道制御

概要

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In this study, an auto-operation system at low speed, of a two-wheeled vehicle, applying the digital optimal preview servo system using information of the future target, is examined. The characteristics of the automatic driving system of the preview servo system is similar to the human driving system. In this study, the effects of various parameters of a two-wheeled vehicle and human driving form on the operation are investigated. The two-wheeled vehicle is controlled through handle operation and weight-shifting, in this work, and electric servo systems are used for driving this system. The basic equations of the two-wheeled vehicle system are derived and a digital optimal preview servo system is synthesized. The running characteristics of the two-wheeled vehicle are examined by simulation studies. The results are compared with running characteristics of human operation, and the effectiveness of the auto-operating system is confirmed.
1994-05-25