Stability Control with Gyro Moment to Improve Rollover Resistance of Narrow Tilting Vehicle

摘要

The objective of this work is to address the instability (inverse torque) caused by the tilt actuator in a narrow tilting vehicle by counterbalance it with a stability control system with gyro moment. A four-wheel narrow tilting vehicle was modeled in a multibody dynamics software to conduct a vehicle motion simulation with sharp steers, in order to investigate the gyro effects on the vehicle lateral acceleration (rollover resistance). From the results of the simulation, the inner tire displacements from ground and wheel loads were determined to analyze the vehicle stability. It was proven by the simulation that the stability control system with gyro moment had improved the rollover resistance of the narrow tilting vehicle.%本研究では，回転体によるジャイロモーメントを利用し.急操舵による車両のロール方向の不安定を解消し，横転限界を向上させることを目的とする.マルチボディダイナミクスソフトウヱァを用い，傾斜機能を有する超小型モビリティ車両のモデルを構築し，シミュレーションで急旋回の際に車両の姿勢と横転限界に対するジャィロ効果を検証した.シミュレーションの結果分析により，車輪浮き現象を検証し，回転体によるジャイロモーメントを用いた安定制御で，車両の横転限界を向上することを検討した.