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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 1336-1345 |
| ページ数 | 10 |
| ジャーナル | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| 巻 | 75 |
| 号 | 753 |
| DOI | |
| 出版ステータス | Published - 2009 5月 |
ASJC Scopus subject areas
- 材料力学
- 機械工学
- 産業および生産工学