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제어모멘트자이로 적용 전동이륜차 셀프밸런싱 제어기술 개발
유승진,김민극,김영재,이한민,백남철 대한기계학회 2023 大韓機械學會論文集A Vol.47 No.4
Self-balancing technology for motorcycles actively controls the roll balance, making it easier to drive at low speeds and safer during an accident. In addition, self-balancing technology is important in that it is a basis for realizing autonomous driving technologies for motorcycles that are being researched recently. This paper presents the results of the development of self-balancing technology for a motorcycle applying a control moment gyroscope. First, in the study, a state feedback controller was designed to maintain the roll balance by the dynamics analysis of the control moment gyroscope and the main design parameters for the control moment gyroscope were derived. Second, an algorithm for estimating the motorcycle parameters required for tuning the controller was developed, and its performance was verified by performing simulations. Based on the analysis results, a prototype control moment gyroscope was developed, and the feasibility of the technology was confirmed experimentally by installing it on an actual small-size electric motorcycle.