抄録
These days, the dynamically stabilized two-wheeled vehicles are investigated as a form of the new personal mobility vehicle. With the control theory of the inverted pendulum, they are kept in equilibrium. It is important to investigate the stability of the dynamically stabilized vehicle especially on a rough road. For this background, the authors investigate the responses of the inverted pendulum, which is stabilized by an optimal controller, to vertical vibrations. With theoretical analysis, numerical simulations and experiments using a large scale vibration exciter, stability to vertical vibration is examined. The results show the system dynamics are governed by the Mathieu equation, thus the amplitude ratio reaches its peak when the frequency of the forced vibration is twice the natural frequency of the controlled inverted pendulum system. The simulation using the parameter of the dynamically stabilized vehicle was also performed and unstable region for the vehicle was found.
