1201 姿勢制御による倒立振子型車両の安定化(OS8 次世代交通システム,オーガナイズド・セッション(OS))

後藤 大希; タン ジェフリー・トゥ・チュアン; 杉町 敏之; 須田 義大; 高畑 良一; 瀬川 雅也

doi:10.1299/jsmetld.2013.22.225

2013.22

Session ID : 1201

DOI https://doi.org/10.1299/jsmetld.2013.22.225

Conference information

1201 Stabilization of an Inverted Pendulum Type Vehicle by Attitude Control

Daiki GOTO, Tan Jeffrey Too Chuan, Toshiyuki Sugimachi, Yoshihiro SUDA, Ryoichi Takahata, Masaya Segawa

Author information

Keywords: Personal Mobility Vehicle, Motion Control, Vehicle Dynamics, Attitude Control, Personal Mobility Vehicle, Flywheel, Active Control, CMG, Two-Wheeled Vehicle

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

The objective of this study was to investigate on the stabilization ofan inverted pendulum type vehicle by attitude control. In this paper, an attitude control by gyro moment was proposed with the modeling and simulation studies of an inverted pendulum type two-wheel vehicle equipped with single gimbal flywheels. The simulation results had shown that it is possible to stabilize the vehicle with attitude control by gyro moment from the flywheels.

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