電動自転車におけるロバストな姿勢安定化制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/06/01

タイトル(英語): Robust Stabilization Control for an Electric Bicycle

著者名: 河村　琢郎（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Takuro Kawamura (Keio University), Toshiyuki Murakami (Keio University)

キーワード: 電動自転車，姿勢安定化制御，リアプノフの安定定理，キャンバ角外乱オブザーバ　　electric bicycle，stabilization control，Lyapunov stability theory，camber angle disturbance observer

要約(英語): Recently, bicycles have gained immense popularity because they have high mobility and are an environment-friendly means of transport. However, many people tend to avoid riding a bicycle because it is unstable. In order to solve this problem, stabilization control for a bicycle has been researched. The aim of this study is improvement of the robustness in stabilization control. To achieve this goal, control systems that use a camber angle disturbance observer (CADO) are proposed. Two kinds of CADOs are proposed in this paper, and the performances of these two observers are compared. The proposed control systems provide higher robustness than does the conventional method. The validity of the proposed methods is confirmed by the experimental results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.6 （2012）

本誌掲載ページ: 651-658 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/6/132_651/_article/-char/ja/