前後輪操舵・駆動自転車の安定化制御(<特集>D&D 2008)

抄録

These days, the searches for sustainable Personal Mobility Vehicle (PMV) are ongoing worldwide. The authors proposed the two-wheel vehicle which has two transformable modes; a two-wheel steering and two-wheel driving (2WS/2WD) bicycle and a stabilized parallel two-wheel vehicle. This paper investigates the 2WS/2WD bicycle and proposes the stabilization control. It shows that by steering rear wheel to the negative phase to the front and by driving rear wheel to the negative phase to the front, it cancels back and forth movement and reduces the roll angle amplitude.