抄録
In this report, we aim to minimize body sway of a human standing on an electric skateboard by applying a feedforward control. A model of human during standing was defined as a thrid-order transfer function and the parameters were derived from the impulse response test and the frequency response test. As a feedforward control, we adopted an access control. The control method enables us to suppress the residual vibration during accelerating compared with the bang-bang control that is typical feedforward control. The accuracy of the model and the effectiveness of the feedforward control were verified by the rest-to-rest control test. To evaluate the ride comfort, we compared experimental result in the method with the simple constant acceleration. The result indicated that the advantage of the present method was not clear. As for modeling, we found the equilibrium angle of the human should be considered because it is not vertical during constant acceleration.
