Synchronous Steering Control of a Parallel Bicycle
Kazuo Yamafuji*, Yasushi Miyakawa** and Takashi Kawamura***
*Dept. of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182 Japan
**Matsushita Electric Industry Co., Ltd., Kunimo, Kofu, Yamanashi 400, Japan
***Graduate Student, The University of Electro-Communications
This paper describes the methods and experiments on synchronous steering control of a parallel bicycle which has twin wheels on the outside of the parallel driving axes and an inverted-pendulum-type upper structure. The bicycle can be steered by controlling rotation of each wheel driven by each DC servo-motor. In order to drive the vehicle along an arbitrary path, both wheels must be steered and synchronously controlled. Both synchronous control methods are proposed. A gain changing method and a servo-reference method are each applied for the servo-control. The steering and driving control of the vehicle has been attained by using synchronous servo-control methods through a microcomputer. Experiments show that the control methods proposed here are available for steering and servocontrol without losing stability of the vehicle.
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