日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
ジャイロアクチュエータを用いた2輪車の自立走行制御
大内 茂人小谷 斉之平田 弘志高橋 孝一千田 有一
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ジャーナル フリー

2015 年 81 巻 832 号 p. 15-00207

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Gyro is not only used as a sensor but also used as an actuator. In the beginning of 20Th century, the gyro monorail using a gyro-actuator which was controlled by manual operation was proposed. In 1970's, the research on a gyro bike was reported. However, a standstill was only confirmed in it. On the other hand, the self-sustaining control of two-wheeled vehicles by using an inertia rotor are reported recently. However, it is difficult to make a large vehicle because this inertia rotor system has only a smaller power as compared with that using the gyro actuator which can obtain a larger power. The modeling is needed for the control system design of the vehicle with a gyro actuator. In this paper, first, positions, angles, and angular velocities are calculated from 3rd link system, then the model for the two-wheeled vehicle with a gyro actuator is made by using Lagrange equation, next the control system is designed by the Ricatti equation, finally the effects of this theory are confirmed by experiments.

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© 2015 一般社団法人日本機械学会
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