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Robust control system design for self-standable motorcycle

2020; Japan Society Mechanical Engineers; Volume: 14; Issue: 3 Linguagem: Inglês

10.1299/jamdsm.2020jamdsm0030

1881-3054

Susumu Hara, Koki Nakagami, Kikuko Miyata, Mitsuo Tsuchiya, Eiichirou Tsujii,

Autonomous Vehicle Technology and Safety

Recently, extensive studies have focused on realizing novel mobility technologies, with special consideration for the aging society.The primary aim of these studies is to establish autonomous driving technology (ADT).Mainly, the objects of ADT are four-wheel motor vehicles, and new technologies are investigated from various viewpoints such as vehicle development and infrastructure improvements.However, ADT for motorcycles has received scant attention.In Japan, the motorcycle mortality rate is approximately quadruple that of four-wheel motor vehicles.Therefore, the design of autonomous motorcycles has become imperative.Furthermore, among the various operation conditions, the low-speed driving mode is the most unstable mode for motorcycles.Thus, autonomously standing up from the parking mode and stability for low-speed driving are very important subjects that should be explored under ADT.To fill this gap, some conventional studies have explored the incorporation of gyro mechanisms (Ouchi, et al., 2015) or counterweights and guide rail in motorcycles (Satoh and Namerikawa, 2006).However, these additional mechanisms often make the motorcycles bigger and heavier.In 2017, Yamaha Motor Co., Ltd.released MOTOROiD, a motorcycle with self-stabilizing mechanism (Tsuchiya, et al., 2018) (Fig. 1).MOTOROiD has a novel rotary axis, active mass center control system, (AMCES, Fig. 2), and can vary the position of the total center of gravity.For this mechanism, Yamaha designed a control system using the combination of a minor loop proportional-integral-derivative (PID)