DESIGN, IMPLEMENTATION, AND TESTING OF AN ADAPTABLE OPTIMAL CONTROLLER FOR AN ELECTRIC WHEELCHAIR
DESIGN, IMPLEMENTATION, AND TESTING OF AN ADAPTABLE OPTIMAL CONTROLLER FOR AN ELECTRIC WHEELCHAIR
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DOI：
10.1109/28.62401
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发表时间：
1990-11-01
影响因子：
4.4
通讯作者：
JOHNSON, BW
中科院分区：
文献类型：
--
作者：
BROWN, KE;INIGO, RM;JOHNSON, BW
介绍了一种电动轮椅自适应最优控制器的设计、实现和测试。最优控制理论和模式识别技术相结合，产生一个控制器的设计使用改进的比例，积分和导数（PID）控制方法。该控制器的适应性在于使用多组控制系数，每组控制系数都针对轮椅负载参数的特定范围进行优化。适当的控制系数可以根据负载参数估计自动选择，以提供自适应控制器，或者在安装之前手动选择，以定制特定用户的椅子。手动自适应控制器是在基于微处理器的系统中实现的。并对该系统在电动轮椅上的安装和测试结果进行了介绍和讨论
The design, implementation, and testing of an adaptable optimal controller for an electric wheelchair are presented. Optimal control theory and pattern recognition techniques are combined to produce the design of a controller using a modified proportional, integral, and derivative (PID) control method. The controller is adaptable in the sense that multiple sets of control coefficients are used with each set being optimized for a specific range of wheelchair load parameters. The appropriate set of control coefficients may be automatically selected based on load parameter estimates to provide a self-adaptive controller, or manually selected prior to installation to tailor the chair to a particular user. The manually adaptable controller is implemented in a microprocessor-based system. The experimental results obtained from installing and testing the system on an electric wheelchair are presented and discussed.<>