A Stabilization Control Based on Analytical Disturbance Estimation for Electric Bicycle

• Project/Area Number: 19560300
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: 電力工学・電気機器工学
• Research Institution: Keio University
• Principal Investigator: MURAKAMI Toshiyuki Keio University, 理工学部, 教授 (00255598)
• Project Period (FY): 2007 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2008: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000); Fiscal Year 2007: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: 電気機器 / モーションコントロール / 電動自転車 / 路面摩擦係数 / スリップ率 / ステアリング制御 / 重心制御 / 駆動力オブザーバ / スライディングモード制御 / パワーアシスト制御 / 固定トレース法

Research Abstract

本研究課題では, 機械システムによる人の動作支援制御の体系化を1つの目的とし, 電動自転車のパワーアシスト制御を外乱の切り分けアルゴリズムにより実現した. ここでは, 自転車のステアリングアクチュエータによる姿勢安定化アシスト制御, 走行駆動アクチュエータによる走行負荷低減アシスト制御に関して提案を行い実験的検証を行った.

Research Products

• [Journal Article] A Study on Straight Line Tracking and Posture Control in Electric Bicycle (2009)
  • Author(s): Y.Tanaka and T.Murakami
  • Journal Title: Transactions on Industrial Electronics Vol. 56, No.1 Pages: 159-168
  • Peer Reviewed
• [Journal Article] A Study on Straight Line Tracking and Posture Control in Electric Bicycle (2009)
  • Author(s): Y. Tanaka, T. Murakami
  • Journal Title: IEEE Transactions on Industrial Electronics Vol. 56, N0. 1 Pages: 159-168
  • Peer Reviewed
• [Journal Article] Sliding Mode Control scheme for an intelligent bicycle (2009)
  • Author(s): Michael Defoort, Toshiyuki Murakami
  • Journal Title: IEEE Transactions on Industrial Electronics 掲載決定
  • Peer Reviewed
• [Journal Article] バックステッピングを用いた電動自転車の姿勢安定化制御 (2008)
  • Author(s): 山口高志,柴田剛慶,村上俊之
  • Journal Title: 74巻5号 Pages: 509-513
  • NAID: 110006668365
  • Peer Reviewed
• [Journal Article] バックステッピングを用いた電動自転車の姿勢安定化制御 (2008)
  • Author(s): 山口 高志, 柴田 剛慶, 村上 俊之
  • Journal Title: 精密工学会誌 74巻5号
  • NAID: 110006668365
  • Peer Reviewed
• [Journal Article] Sliding Mode Control scheme for an intelligent bicycle
  • Author(s): Michael Defoort and Toshiyuki Murakami
  • Journal Title: IEEE Transactions on Industrial Electronics (掲載決定)
  • Peer Reviewed
• [Presentation] Underactuated Two-Wheeled Mobile Manipulator Control Using Nonlinear Backstepping Method (2008)
  • Author(s): Cihan Acar and Toshiyuki Murakami
  • Organizer: 34th Annual Conference of the IEEE Industrial Electronics Society (IECON 2008)
  • Place of Presentation: Orlando, Florida, U.S.A
  • Year and Date: 2008-11-12
• [Presentation] Underactuated Two-Wheeled Mobile Manipulator Control Using Nonlinear Backstepping Method (2008)
  • Author(s): Cihan Acar, Toshiyuki Murakami
  • Organizer: 34th Annua1 Conference of the IEEE Industrial Electronics Society (IECON 2008)
  • Place of Presentation: Orlando, Florida, U. S. A
  • Year and Date: 2008-11-12
• [Presentation] Second order Sliding Mode Control with Disturbance Observer for bicycle stabilization (2008)
  • Author(s): Michael Defoort and Toshiyuki Murakami
  • Organizer: 008 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Acropolis Convention Center Nice, France
  • Year and Date: 2008-09-25
• [Presentation] Second order Sliding Mode Control with Disturbance observer for bicycle stabilization (2008)
  • Author(s): Michael Defoort, Toshiyuki Murakami
  • Organizer: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Acropolis Convention Center Nice, France
  • Year and Date: 2008-09-25
• [Presentation] Self-Sustaining Approach of Electric Bicycle by Acceleration Control Based Backstepping (2007)
  • Author(s): Takashi Yamaguchi, Tuyoshi Shibata, Toshiyuki Murakami
  • Organizer: The 33rd Annual Conference of the IEEE Industrial Electronics Sciety (IECON)
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2007-11-06
• [Presentation] 加速度制御に基づく一輪車の姿勢安定化制御 (2007)
  • Author(s): 宮下雅樹, 村上俊之
  • Organizer: 平成19年電気学会産業応用部門大会
  • Place of Presentation: 大阪工業大学
  • Year and Date: 2007-08-21
• [Presentation] Self-Sustaining Approach of Electric Bicycle by Acceleration Control Based Backstepping (2007)
  • Author(s): Takashi Yamaguchi, Tuyoshi Shibata, Toshiyuki Murakami
  • Organizer: The 33rd Annual Conference of the IEEE Industrial Electronics Sciety(IECON)
  • Place of Presentation: Taipei,Taiwan
• [Presentation] 加速度制御に基づく-輪車の姿勢安定化制御 (2007)
  • Author(s): 宮下 雅樹, 村上 俊之
  • Organizer: 平成19年電気学会産業応用部門大会
  • Place of Presentation: 大阪工業大学
• [Remarks] 精密工学会掲載論文は研究奨励賞(2009年3月)
• [Remarks] 米国の科学ニュースサイト(2008 年11 月4 日掲載)
  • URL: http://www.physorg.com/news145018303.html
• [Remarks] Speigel Online(ドイツのWeb ニュース : 008年11月6日掲載)
  • URL: http://www.spiegel.de/wissenschaft/mensch/0.1518.588873.00.html