二輪車走行における安定制御回路の同定

概要

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A bicycle rider always experiences slight fluctuations in the direction of movement; even when he runs the bicycle steadily straightforward. To analyze the stability control thus executed by the bicycle rider, roll angles (RO), course deviation (Y), steering torque (HT), saddle torque (ST) and pedal part torque (PT) were measured for a bicycle on a running belt. Here, ST and PT were assumed to be the quantities related to the leaning of the rider. Autoregressive models were employed to fit the results. Through the whole procedure including a time series analysis with a computer, 5*5 autoregressive coefficient matrices were obtained in addition to noise characteristics, a power spectral density function, coherence and a noise contribution factor. Regarding the loop of a control system consisting of a rider and two-wheeled vehicle, we conclude from the matrices as follows. (1) The loop via RO and HT and that via Y and HT are more dominant than the other loops. (2) Powerful noises are present at RO, HT, ST and PT.
一般社団法人日本機械学会の論文
1991-03-25