二輪自動車の姿勢安定化制御システム : 低速定常円旋回時の前輪操舵アシスト制御(<特集>D&D 2008)

抄録

In this paper, we design a control system to stabilize a motorcycle which is in the state of steady-state circular turning at the low speed by using an assist actuator of the front steering. The nonlinear dynamical model of a rider-motorcycle system is derived taking into account of leaning of the rider, and is linearized around a certain equilibrium point to perform the eigenvalue analysis and the frequency response analysis. A reduced-order model that can be used to design the control system is derived on the basis of the frequency response analysis. The attitude stabilization control system is designed by using H_∞ control theory. It is verified that the H_∞ control system designed can stabilize the attitude of motorcycle against a front-steering torque disturbance during steady-state circular turning.