Novel straight road driving control of power assisted wheelchair based on disturbance estimation and minimum jerk control
Novel straight road driving control of power assisted wheelchair based on disturbance estimation and minimum jerk control
复制标题
基于扰动估计和最小加加速度控制的新型助力轮椅直线行驶控制
DOI：
10.1109/ias.2005.1518677
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Tadakuma
中科院分区：
文献类型：
--
作者：
H. Seki;T. Sugimoto;S. Tadakuma
通过电动机辅助驱动力的动力辅助轮椅有望被广泛用作老年人和残疾人的移动支持系统。在实际行驶条件下，由于左右轮独立驱动，可以通过树枝、草地和地毯等路况阻止直线行驶。提出了一种基于干扰转矩估计的直线行驶控制系统。该系统通过干扰观测器估计左右轮驱动力矩差，并对一侧车轮进行补偿。本文还介绍了一种最小加加速度轨迹控制的动力辅助轮椅，以提高乘坐质量和安全性。在各种实际道路上的实际实验表明，所提出的控制系统的有效性和多用途和高性能的助力轮椅系统的可能性。
Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. In the practical driving condition, the straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a novel straight road driving control system based on the disturbance torque estimation. The proposed system estimates the driving torque difference between the right and left wheels by disturbance observer and compensates to one side of the wheels. This paper also describes a minimum jerk trajectory control for power assisted wheelchair to improve the ride quality and safety. Some practical experiments on the various practical roads show the effectiveness of the proposed control systems and the possibility for the multi purpose and high performance system of power assisted wheelchair.
考虑驾驶员命令变化的电动汽车实时智能速度模式生成器
DOI：
--
发表时间：
2007
期刊：
WEVA (WOrld Electric Vehicle Association) Journal 1(CDROM)
影响因子：
--
作者：
Yu Ogura;Atsuo Takankishi et al.;Li Zhao and Yoichi Hori
通讯作者：
Li Zhao and Yoichi Hori