抄録
In resent year, the parallel two-wheel transporter with lower gravity center of vehicle body has been developed for assisting to transfer the heavy load on irregular ground and slope. Especially, this transporter has the mechanism to level the loading platform on the slope. It is required to level the loading platform even if the transporting material with large inertia moment is loaded on the platform. Therefore in this paper, the attitude control on the rolling-direction of the loading platform is proposed for leveling quickly the platform with changing the loading condition. In this approach, the phaselag compensation is applied to the attitude control. The effectiveness of the proposed control system is verified by the experiments with the parallel two-wheel transporter.
