In order to use the stable biomass resources that exist in rural areas, we have developed a small bio-methane gas engine generator that can be applied to various composition of bio-methane gas. Different from other conventional researches, we added auxiliary devices such as the surge tank, extra carburetor and ECU for our conventional gas engine generator, instead of alteration to the basic structure of the engine and the control method. Referred to the observation data such as the temperature, load and air-fuel ratio, we evaluated adaptability of auxiliary devices for various bio-methane compositions. The surge tank and extra carburetor are useful for getting more air and improve the mix for fuel-air. Along with various composition of bio-methane gas, the ECU could calculate the deviation of desired revolution and current revolution to adjust throttle valve angle by a PID controller, and realize the generator running stable.
Recently, in regards to vehicle steering control system based on steer by wire (SBW), the relationship between the vehicle response and steering input could change flexibly. There are some previous studies (e.g. H∞, LQG, Model Matching etc. ) to similar researches, but these researches are mutually exclusive for the desired response and robustness. We report the evaluation results of the robust steering control law by combination of model matching and optimal observer, which can realize compatible of vehicle desired response and robust characteristics to steer input disturbance simultaneously. Generally, this offered system can accommodate to develop the SBW system which realize compatible of vehicle desired response and robust characteristics to steer input disturbance simultaneously. Especially, the function to eliminate the input disturbance allows the efficient design to develop the vehicle control law realize compatible of the maneuverability and dynamic stability involving the static stability characteristics. The control plant, which abstracts the actual vehicle characteristics by linear bicycle model using the linear cornering stiffness, is positioned as the evaluation tool to verify the desired response and the robustness of offered control law. Although this linear bicycle model plant is positioned for the evaluation tool, in accordance with this research developing, we would verify the effect of this control law to the actual vehicle characteristics.
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