自支撑摩托车动力学与控制

Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control Pub Date : 2019-11-25 DOI:10.1115/detc2019-97154

S. Hara, Koki Nakagami, Kikuko Miyata, Mitsuo Tsuchiya, E. Tsujii

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引用次数: 2

摘要

本研究讨论了一种新型摩托车“MOTOROiD”的自动从停车模式中站起来并确保低速行驶的稳定性。2017年，雅马哈汽车有限公司发布了一款具有自稳定机制的摩托车“MOTOROiD”。这个原型有一个新的旋转轴，可以改变总重心的位置。这个轴被称为AMCES(主动质量中心控制系统)。提出了具有参数不确定性的MOTOROiD的建模方法，用于控制系统的设计。采用拉格朗日方程法和多体动力学两种方法对已建立的模型进行验证。利用所建立的模型，采用二自由度控制系统结构，设计了一种从停车模式出发并保证稳定的统一控制方法。通过数值仿真验证了该建模方法和控制系统设计对变参数系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamics and Control of Self-Standable Motorcycle

This study discusses autonomous standing up from the parking mode and ensuring stability for low-speed driving of a novel motorcycle, named “MOTOROiD”. In 2017, Yamaha Motor Co., Ltd. released a motorcycle with a self-stabilizing mechanism, “MOTOROiD.” This prototype has a new rotary axis and can vary the position of the total center of gravity. This axis is called AMCES (Active Mass CEnter control System). This paper shows the modeling of MOTOROiD with parameters uncertainties for the control system design. The modeling is performed based on two different methods for established model verification: Lagrange’s equation method and the multibody dynamics. By using the established model, a unified control method for standing up from the parking mode and ensuring stability is designed by using a two-degree-of-freedom control system structure. The effectiveness of the modeling and control system design to the system with the variable parameter is verified by numerical simulations.

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来源期刊

Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control

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