Title:
リーン車両及びロール角制御方法
Document Type and Number:
Japanese Patent JP6923327
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To improve accuracy in roll angle control of a vehicle body frame, in a lean vehicle having a pair of wheels arranged side by side in a sidewise direction.SOLUTION: A lean vehicle 1 comprises a vehicle body frame 21, a left wheel 32, a right wheel 31, a rear wheel 4, a lean mechanism 5, an actuator 42, a roll angle control part 424. The lean mechanism 5 includes an arm 51 supported so as to be rotatable with respect to the vehicle body frame 21. The arm 51 rotates with respect to the vehicle body frame 21 and the vehicle body frame 21 thereby leans in a vertical direction of the vehicle 1. The actuator 42 generates torque for rotation of the arm 51 with respect to the vehicle body frame 21. The roll angle control part 424 acquires torque output from the actuator 42 and a roll angular velocity of the vehicle body frame 21, generates a command value including a component for generating torque having an absolute value greater than the acquired output torque and a component for generating torque making the roll angular velocity 0, and supplies it to an actuator.SELECTED DRAWING: Figure 7
Inventors:
Yukihide Fukuhara
Nobuo Hara
Nobuo Hara
Application Number:
JP2017048507A
Publication Date:
August 18, 2021
Filing Date:
March 14, 2017
Export Citation:
Assignee:
YAMAHA HATSUDOKI KABUSHIKI KAISHA
International Classes:
B62K5/10; B60G21/045; B62K5/05
Domestic Patent References:
| JP2013193616A | ||||
| JP2016179710A | ||||
| JP201469675A |
Attorney, Agent or Firm:
Suzuki Kazuaki