ステアバイワイヤによる二輪車の操縦安定性向上に関する研究

第1報, 制御手法とシミュレーションによる検討

抄録

This study proposes a new steering control method for a two-wheeled vehicle to improve its handling and stability. We apply Steer-By-Wire (SBW) technology to the two-wheeled vehicle's steering system to remove difficult maneuvers characteristic of the vehicle. By employing a two-degree-of-freedom controller, the actual rolling angle of the vehicle is controlled to follow the reference rolling angle intended by the rider. A state feedback control such as Linear Quadratic (LQ) control gives the SBW vehicle a good follow-through performance compared with Propotional-Derivative (PD) control because it can decouple rolling motion from other motions. Adding a Kalman filter as a state estimator to the LQ controller, i.e. an LQG controller, the SBW vehicle also shows a good performance using estimated values. These control strategies improve not only the vehicle's responsiveness to the rider's command, but also the vehicle's trim stability under disturbance inputs.