TY - GEN
T1 - An approach to fusion control of stabilization control and human input in electric bicycle
AU - Iuchi, Ko
AU - Murakami, Toshiyuki
PY - 2006/12/1
Y1 - 2006/12/1
N2 - As well know, a bicycle is a high efficiency vehicle and is suitable for aging society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. This paper focuses on the instability of the bicycle. There are few researches which realize the control system supporting driver's operation because human Input is regarded as disturbance and make system unstable. This paper realizes the posture control of the electric bicycle which is able to accept human Input. Estimating human Input from motor reaction torque, control system is constructed without force sensor.
AB - As well know, a bicycle is a high efficiency vehicle and is suitable for aging society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. This paper focuses on the instability of the bicycle. There are few researches which realize the control system supporting driver's operation because human Input is regarded as disturbance and make system unstable. This paper realizes the posture control of the electric bicycle which is able to accept human Input. Estimating human Input from motor reaction torque, control system is constructed without force sensor.
KW - Attitude control
KW - Bicycle
KW - Disturbance observer
KW - Inverted pendulum
KW - Steering control acceleration control
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U2 - 10.1109/IECON.2006.347498
DO - 10.1109/IECON.2006.347498
M3 - Conference contribution
AN - SCOPUS:50249115495
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 3211
EP - 3216
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -