2114 二輪自動車のモデル線形化と運動制御(交通機械の制御(2))

概要

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In this paper, we present a linearlized system for a motorcycle, for which its stability and model analysis are performed. The steering torque to perform lane change is obtained by applying final-output control with error learning. The equation of motion for the motorcycle was obtained using multi-body dynamics analysis assuming that the motorcycle consists of four rigid parts with nine degrees of freedom. We linearized the equation of motion around a point where the velocity is constant when runnning straight. The linearized model were separated as the capsize, weave and wobble modes. As a result of the frequency response analysis, it turned out that the gain of the weave mode is largest at the speed of 30km/h. From comparison between before learning and after, it was verified that the error learning improves the state of the motorcycle concerning the weave mode in the lane change.
社団法人日本機械学会の論文
2007-08-08