• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator

Research Project

Project/Area Number 26420180
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Dynamics/Control
Research InstitutionTokai University

Principal Investigator

Ouchi Shigeto  東海大学, 情報理工学部, 教授 (20287030)

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)
Co-Investigator(Renkei-kenkyūsha) Thida Yuichi  信州大学, 学術研究院工学系, 教授 (00345753)
Research Collaborator Kodani Nariyuki  
Tkahashi Koichi  
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
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)
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
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.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (10 results)

All 2016 2015 2014 Other

All Journal Article (4 results) (of which Peer Reviewed: 4 results,  Open Access: 3 results,  Acknowledgement Compliant: 2 results) Presentation (2 results) Book (1 results) Remarks (3 results)

  • [Journal Article] Self-sustaining drive control of a bike by using a gyro actuator2016

    • Author(s)
      Shigeto Ouchi, Nariyuki Kodani
    • Journal Title

      IEEJ International Workshop on SAMCON2016

      Volume: 1 Pages: 1-6

    • Related Report
      2016 Annual Research Report 2015 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator2015

    • Author(s)
      大内,小谷,平田,高橋,千田
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 81 Issue: 832 Pages: 15-00207-15-00207

    • DOI

      10.1299/transjsme.15-00207

    • NAID

      130005118081

    • ISSN
      2187-9761
    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Self-sustaining Drive Control of Gyro-Bike2015

    • Author(s)
      S.Ouchi,N.Kodani,H,Hirata,M.Mubin,K.Takahashi
    • Journal Title

      IEEJ International Workshop on SAMCON

      Volume: 1 Pages: 1-6

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Self-sustaining Drive Control of Bike by Gyro Actuator2014

    • Author(s)
      Sohaimi,S.Ouchi,N.Kodani,H,Hirata,M.Mubin,K.Takahashi
    • Journal Title

      Mecatronics2014

      Volume: 1 Pages: 291-296

    • Related Report
      2014 Research-status Report
    • Peer Reviewed
  • [Presentation] ハンドル操作による2輪車の自立走行制御2016

    • Author(s)
      大内 茂人, 小谷 斉之, 宮本健作, 高橋 孝一,清水 創太
    • Organizer
      自動車技術会・春季大会
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-05-25
    • Related Report
      2016 Annual Research Report
  • [Presentation] ジャイロアクチュエータを用いた2輪車の自立走行制御2014

    • Author(s)
      磯川恭平,大内茂人
    • Organizer
      神奈川県ものづくり技術交流会
    • Place of Presentation
      神奈川県産業技術センター 神奈川県海老名市
    • Year and Date
      2014-10-22
    • Related Report
      2014 Research-status Report
  • [Book] 日刊工業新聞2014

    • Author(s)
      大内茂人,小谷斉之
    • Total Pages
      1
    • Publisher
      日刊工業新聞
    • Related Report
      2014 Research-status Report
  • [Remarks] 2015国際ロボット展 大内研究室

    • URL

      http://biz.nikkan.co.jp/eve/irex/shuten.php

    • Related Report
      2015 Research-status Report
  • [Remarks] 大内教授の研究室が国際ロボット展にブースを出展しました

    • URL

      http://www.u-tokai.ac.jp/academics/undergraduate/information_science_and_t/news/detail/post_19.html

    • Related Report
      2015 Research-status Report
  • [Remarks] ジャイロ二輪車の姿勢制御

    • URL

      http://ouc-lab.ec.u-tokai.ac.jp/

    • Related Report
      2014 Research-status Report

URL: 

Published: 2014-04-04   Modified: 2018-03-22  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi