Design and development of single side driven wheelchairs by using internal model control
Design and development of single side driven wheelchairs by using internal model control
复制标题
内模型控制单侧驱动轮椅的设计与开发
DOI：
10.1109/cca.2002.1040212
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
N. Kobayashi
中科院分区：
文献类型：
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作者：
R. Suzuki;M. Tani;N. Kobayashi
本研究旨在设计一种新的辅助装置，并进行测试。在目前的情况下，患有这种残疾的人通常驾驶标准轮椅，一只手和一只脚都是活动的。传统的单侧驱动非动力轮椅具有各种类型的问题，例如，旋转半径大，操作难度大。本文的目的就是从技术独立性的角度出发，采用内模控制（IMC）设计结构来解决目前单侧驱动轮椅存在的这些问题。对单侧驱动轮椅实施了内模控制设计与LQ控制限制特性相结合的控制方法。对参数摄动的鲁棒稳定性也进行了理论分析。实验结果表明，该方法对单侧驱动轮椅的跟踪控制是有效的。
This study is focused on the design and testing of a newly assisting unit for standard wheelchairs for hemiplegia person. People with this type of disability often drive standard wheelchairs with one active hand and foot in the present situation. Conventional single side driven non-powered wheelchairs have various types of problems, e.g., large rotation radius, difficulty of operations. The purpose of this paper is to solve these problems of current single side driven wheelchairs by using internal model control (IMC) design structure from technology of independence point of view. The control method by combining the IMC design with limiting properties of LQ control is implemented to the single side driven wheelchair. Robust stability for parameter perturbation is also discussed theoretically. The experimental results show that the method is effective on tracking control for the single side driven wheelchair.