Steering Control for Motorcycles Using Model Matching Control
モデルマッチング制御による二輪車の操舵制御の検討
This study discusses steering control for motorcycles using Model Matching Control (MMC) to improve transient characteristics. By examining computer simulation with a simple motorcycle model, the MMC performs the desired rolling angle generated by the steering torque of the feed-forward control. Increasing natural frequency of the reference model improves the tracking performance of the rolling angle, and increasing damping ratio stabilizes the response. The MMC shortens the rise time of the rolling angle in comparison with the conventional control without considering transient characteristics. The MMC also performs the robustness to the parameter uncertainty.本研究では，過渡特性の改善するために，二輪車の操舵制御にモデルマッチング制御を適用した．簡易モデルによるシミュレーションを行い，モデルマッチング制御を用いることで，フィードフォワード制御により目標ロール角を実現し，ロール角の立ち上がり時間が，既存研究の制御系よりも短縮することを確認した．
- Record URL:
- Record URL:
-
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
-
Authors:
- Marumo, Yoshitaka
- Oaki, Hiroki
- Yokota, Takeru
- Publication Date: 2017-9
Language
- English
- Japanese
Media Info
- Media Type: Digital/other
- Features: Figures; References;
- Pagination: pp 1107-1112
-
Serial:
- Transactions of Society of Automotive Engineers of Japan
- Volume: 48
- Issue Number: 5
- Publisher: Society of Automotive Engineers of Japan
- ISSN: 0287-8321
- EISSN: 1883-0811
- Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
-
Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Automatic steering control; Maneuverability; Mathematical models; Motor vehicle dynamics; Motorcycles; Natural frequency; Simulation; Steering systems
- Subject Areas: Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01674167
- Record Type: Publication
- Source Agency: Japan Science and Technology Agency (JST)
- Files: TRIS, JSTAGE
- Created Date: Jun 29 2018 10:35AM