| Project/Area Number |
26420180
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Tokai University |
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Principal Investigator |
Ouchi Shigeto 東海大学, 情報理工学部, 教授 (20287030)
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| Co-Investigator(Kenkyū-buntansha) |
清水 創太 慶應義塾大学, 理工学研究科(矢上), 特任准教授 (20328107)
千田 有一 信州大学, 学術研究院工学系, 教授 (00345753)
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| Co-Investigator(Renkei-kenkyūsha) |
Thida Yuichi 信州大学, 学術研究院工学系, 教授 (00345753)
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| Research Collaborator |
Kodani Nariyuki
Tkahashi Koichi
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2014: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
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| Keywords | ジャイロアクチュエータ / 独楽 / 2輪車 / ラグランジュの運動方程式 / オイラーの運動方程式 / 視覚情報システム / ２輪車の運動方程式 / 2輪車の運動方程式 / ロール角 / ステアリング / 独楽の運動方程式 / ２輪車 / 最適制御理論 |
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| Outline of Final Research Achievements |
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,finally the effects of this theory are confirmed by experiments.
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