低重心型平行二輪ビークルにおける搭乗者の体格を考慮した車体揺動抑制制御

Abstract

This paper addresses the development of an advanced parallel two-wheel vehicle that has an underslung vehicle body. The developed parallel two-wheel vehicle has the functions such as the self-standing structure by stable pendulum structure, the seat positioning system for compensating the deviation of the vehicle's gravity center including the passenger, and the active mass system for suppressing swaying of the vehicle body. The vehicle will be used by diverse passengers in the future. However, the sway suppression control of the vehicle body was developed without consideration for differences of the passenger's physical constitution in the conventional study. In this paper, the mathematical model of the swaying of vehicle body with passenger and its model parameters identification are proposed. In the model parameters identification, it is clarified that the model parameters of each passenger are similar except for the passenger's mass. Furthermore, the control parameters designed by backstepping method are independent to interference from the model parameters. Therefore, in design of the sway suppression control to the diverse passengers, the only passenger's mass is given to the control system. Finally, effectiveness of the proposed control system is verified by experiments using the parallel two-wheel vehicle.