Traveling assist control of two-wheel wheelchair in unknown step passage

Nobuaki Hirata, Sakurako Hamatani, Toshiyuki Murakami

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

A two-wheel wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheel wheelchair has improved former problems of a conventional four-wheel wheelchair, such as step passing capability. However, two-wheel wheelchair still requires high torque for step passage. To generate high torque command of wheel, large posture movement of passenger is required, and this leads to an operational difficulty. In this paper, traveling assist control of two-wheel wheelchair in step passage is proposed. In this proposal, virtual disturbance of pitch angle is generated according to reaction torque response of wheels. Then virtual disturbance is introduced to a Synthesized Pitch Angle Disturbance Observer(SPADO). With virtual disturbance, SPADO will generates higher torque command of wheel and allow passenger to generate high torque command of wheel with small posture movement. Validity of proposal is tested through experiment.

本文言語English
ホスト出版物のタイトルProceedings - 2016 IEEE 25th International Symposium on Industrial Electronics, ISIE 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1270-1275
ページ数6
2016-November
ISBN(電子版)9781509008735
DOI
出版ステータスPublished - 2016 11 15
イベント25th IEEE International Symposium on Industrial Electronics, ISIE 2016 - Santa Clara, United States
継続期間: 2016 6 82016 6 10

Other

Other25th IEEE International Symposium on Industrial Electronics, ISIE 2016
国/地域United States
CitySanta Clara
Period16/6/816/6/10

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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