Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator
Gyro is not only used as a sensor but also used as an actuator. In the beginning of 20Th century, the gyro monorail using a gyro-actuator which was controlled by manual operation was proposed. In 1970's, the research on a gyro bike was reported. However, a standstill was only confirmed in i...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2015-11-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/81/832/81_15-00207/_pdf/-char/en |
| _version_ | 1828098780530999296 |
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| author | Shigeto OUCHI Nariyuki KODANI Hiroshi HIRATA Koichi TAKAHASHI Yuichi CHIDA |
| author_facet | Shigeto OUCHI Nariyuki KODANI Hiroshi HIRATA Koichi TAKAHASHI Yuichi CHIDA |
| author_sort | Shigeto OUCHI |
| collection | DOAJ |
| description | Gyro is not only used as a sensor but also used as an actuator. In the beginning of 20Th century, the gyro monorail using a gyro-actuator which was controlled by manual operation was proposed. In 1970's, the research on a gyro bike was reported. However, a standstill was only confirmed in it. On the other hand, the self-sustaining control of two-wheeled vehicles by using an inertia rotor are reported recently. However, it is difficult to make a large vehicle because this inertia rotor system has only a smaller power as compared with that using the gyro actuator which can obtain a larger power. The modeling is needed for the control system design of the vehicle with a gyro actuator. In this paper, first, positions, angles, and angular velocities are calculated from 3rd link system, then the model for the two-wheeled vehicle with a gyro actuator is made by using Lagrange equation, next the control system is designed by the Ricatti equation, finally the effects of this theory are confirmed by experiments. |
| first_indexed | 2024-04-11T08:07:18Z |
| format | Article |
| id | doaj.art-b78232be894447ea9311cb472490fb5f |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:07:18Z |
| publishDate | 2015-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-b78232be894447ea9311cb472490fb5f2022-12-22T04:35:29ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612015-11-018183215-0020715-0020710.1299/transjsme.15-00207transjsmeSelf-sustaining driving control of two-wheeled vehicle by using gyro-actuatorShigeto OUCHI0Nariyuki KODANI1Hiroshi HIRATA2Koichi TAKAHASHI3Yuichi CHIDA4Tokai University, School of Information Science and TechnologyTokai University, School of Information Science and TechnologyTokai University, School of Information Science and TechnologyFuji IT Co., Ltd.Shinshu University, Faculty of EngineeringGyro is not only used as a sensor but also used as an actuator. In the beginning of 20Th century, the gyro monorail using a gyro-actuator which was controlled by manual operation was proposed. In 1970's, the research on a gyro bike was reported. However, a standstill was only confirmed in it. On the other hand, the self-sustaining control of two-wheeled vehicles by using an inertia rotor are reported recently. However, it is difficult to make a large vehicle because this inertia rotor system has only a smaller power as compared with that using the gyro actuator which can obtain a larger power. The modeling is needed for the control system design of the vehicle with a gyro actuator. In this paper, first, positions, angles, and angular velocities are calculated from 3rd link system, then the model for the two-wheeled vehicle with a gyro actuator is made by using Lagrange equation, next the control system is designed by the Ricatti equation, finally the effects of this theory are confirmed by experiments.https://www.jstage.jst.go.jp/article/transjsme/81/832/81_15-00207/_pdf/-char/engyroscopic effecttwo-wheeled vehiclecontrolrotation coordinateeuler's equation |
| spellingShingle | Shigeto OUCHI Nariyuki KODANI Hiroshi HIRATA Koichi TAKAHASHI Yuichi CHIDA Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator Nihon Kikai Gakkai ronbunshu gyroscopic effect two-wheeled vehicle control rotation coordinate euler's equation |
| title | Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator |
| title_full | Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator |
| title_fullStr | Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator |
| title_full_unstemmed | Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator |
| title_short | Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator |
| title_sort | self sustaining driving control of two wheeled vehicle by using gyro actuator |
| topic | gyroscopic effect two-wheeled vehicle control rotation coordinate euler's equation |
| url | https://www.jstage.jst.go.jp/article/transjsme/81/832/81_15-00207/_pdf/-char/en |
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