Backward tumbling control for power-assisted wheelchair based on phase plane analysis
Backward tumbling control for power-assisted wheelchair based on phase plane analysis
复制标题
基于相平面分析的助力轮椅后翻滚控制
DOI：
10.1109/iembs.2003.1279670
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
--
作者：
N. Hata;Y. Koyasu;H. Seki;Y. Hori
提出了一种新的电动轮椅后翻控制策略。轮椅的动力辅助装置放大了施加在推轮上的扭矩。过度放大的扭矩有时会导致危险的后翻。本文分析了人-轮椅系统在相平面上的质心位置与角速度的相互作用对后翻的影响。然而，人-轮椅系统的质心（COM）不能直接测量。因此，所提出的控制方法，防止危险的后倾翻，降低援助比的基础上，COM观察员估计的COM的位置考虑一些不确定性;和相平面分析使用的估计。我们在一些实验中所提出的控制方法的有效性。
We propose a novel control strategy of backward tumbling for power-assisted wheelchair operated by moving the push rims. The power-assistance units of wheelchair amplify the torque applied to the push rims. Excessive amplified torque sometimes causes dangerous backward tumbling. This paper analyzes backward tumbling as the interaction between the position of center-of-mass on man-wheelchair system and its angular velocity on the phase-plane. However, center-of-mass(COM) of man-wheelchair system cannot be directly measured. Therefore, the proposed control method prevents dangerous backward tumbling by decreasing assistance-ratio based on both COM observer to estimate the position of the COM considering some uncertainties; and phase plane analysis using the estimated. We show the effectiveness of the proposed control method in some experiments.