Real-time model based electrical powered wheelchair control.
Real-time model based electrical powered wheelchair control.
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DOI：
10.1016/j.medengphy.2009.08.002
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发表时间：
2009-12
影响因子：
2.2
通讯作者：
Cooper, Rory A.
中科院分区：
文献类型：
--
作者：
Wang, Hongwu;Salatin, Benjamin;Grindle, Garrett G.;Ding, Dan;Cooper, Rory A.
摘要本研究旨在探讨三种不同控制方式对电动轮椅驱动速度变化及滑移率之影响。建立了轮椅的运动学模型和三维动力学模型，用于控制轮椅的速度和牵引力。设计并建造了一个智能轮椅平台，该平台配有计算机控制器和编码器，用于记录车轮速度并检测打滑。基于模型，比例积分微分（PID）和开环控制器与EPW驱动在四个不同的表面上，在三个指定的速度。对速度阶跃响应输入下的速度误差、变化量、上升时间、稳定时间和转差系数进行了计算和比较。实验结果表明，基于模型的控制性能最好的所有表面的速度。
The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel-slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3-D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds.
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影响因子：
1.8
作者：
Cooper, Rory A.;Cooper, Rosemarie;Boninger, Michael L.
通讯作者：
Boninger, Michael L.
影响因子：
3.7
作者：
Xiang, H;Chany, AM;Smith, GA
通讯作者：
Smith, GA
影响因子：
6.4
作者：
Gustafsson, F
通讯作者：
Gustafsson, F
DOI：
10.1097/00002060-199406000-00004
发表时间：
1994-06-01
影响因子：
3
作者：
UMMAT, S;KIRBY, RL
通讯作者：
KIRBY, RL
影响因子：
4.4
作者：
BROWN, KE;INIGO, RM;JOHNSON, BW
通讯作者：
JOHNSON, BW