Abstract
This study discusses autonomous standing up from the parking mode and ensuring stability for low-speed driving of a novel motorcycle, named “MOTOROiD”. In 2017, Yamaha Motor Co., Ltd. released a motorcycle with a self-stabilizing mechanism, “MOTOROiD.” This prototype has a new rotary axis and can vary the position of the total center of gravity. This axis is called AMCES (Active Mass CEnter control System). This paper shows the modeling of MOTOROiD with parameters uncertainties for the control system design. The modeling is performed based on two different methods for established model verification: Lagrange’s equation method and the multibody dynamics. By using the established model, a unified control method for standing up from the parking mode and ensuring stability is designed by using a two-degree-of-freedom control system structure. The effectiveness of the modeling and control system design to the system with the variable parameter is verified by numerical simulations.
