エネルギフロー法を用いた二輪車の直進安定性向上に関する研究 : ロール角加速度フィードバックによる操舵トルク制御の検討(機械力学,計測,自動制御)

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This study proposes an improved method for stabilizing straight running of two-wheeled vehicles. An analysis of the two-wheeled vehicle's vibration modes was completed using the Energy Flow Method, which calculates energy flow of external forces in each motion. Based on these results, we examined the control using steering torque as the control input. Controlling steering torque with rolling acceleration feedback increases wobble and weave mode stabilities. Wobble mode stability is increased by the external force concerning rolling motion. Weave mode stability is also increased by the phase lead of front tire side force in yawing motion. Using another variable as a feedback control signal, for example controlling steering torque with yaw rate feedback, increases only one mode's stability and destabilizes the other mode.
2005-04-25