C208 幼児同乗自転車用ハンドル支援システムの制御系設計 : Model-Following制御と外乱オブザーバに基づいた制御系の検討(二輪車のダイナミクスと制御2)

概要

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Recently, bicycles for biking with children are attracting much attention in Japan, but a variety of dangerousness comes up when biking with children. Then, a law for safety of bicycles with children has been established 2009. Consequently, bicycle manufacturers have provided bicycles adapting to new salty standards by improving structure, strength, stiffness, braking and steering performance. However, unfortunately, consideration from dynamics aspect comes short in such bicycles. Our prevous research has shown that the bicycle stability is best when a child restraint system is attached above the front wheel. On the other hand, increasing the moment of inertia when a child sits on the front seat might cause steering instability. Hence, in this paper, to overcome the problem, an electrically-assisted steering system for those bicycles is proposed. Two control methods, Model Following control and disturbance observer-based control, for the assisted steering system are introduced, and compared. The effectiveness of the proposed system with each control method is verified by frequency analysis, numerical simulations.
2011-06-28