332 自転車のダイナミクスのモデリングと安定化制御(アドバンスト制御理論応用I)(OS アドバンスト制御理論応用)

概要

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One of the most popular vehicles is a two-wheel bicycle in our life. Because of its unstable system, it is very difficult for a person to ride it for the first time. As we practice stabilizing it over and over again, we learn the way of stable riding with the feedback control based on the five senses. By means of our controlling its direction, attitude and velocity, a bicycle can keep stable. This study deals with modeling and stabilizing control of a two-wheel bicycle. With viewpoints of the vehicle engineering and stabilizing a pendulum, dynamical modeling of a bicycle is developed. And the effect of operating handlebars to stabilize a bicycle is described. As a result, it was demonstrated that the most important motion to stabilize a bicycle is operating handlebars, not moving our bodies.
2001-04-20