226 静止時における自立走行二輪車のモデリングとロバスト姿勢制御(ビークル・コントロール,OS-2:運動と振動のモデリングと制御(1))

概要

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Stability of Two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize Two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining Two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of-gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.
2004-09-27