Control developments for wheelchairs in slope environments
Control developments for wheelchairs in slope environments
复制标题
斜坡环境中轮椅的控制发展
DOI：
10.1109/acc.2005.1470047
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
--
作者：
Sehoon Oh;N. Hata;Y. Hori
本文设计了一种坡度环境下轮椅的观测器和控制器。我们选择了动力辅助轮椅中经常出现的两个问题，即重力问题。第一个问题是轮椅倾覆，第二个问题是轮椅在山上推进时出现困难。前者与观测问题有关，后者与控制问题有关。我们想对这两个问题提出解决方案。我们在这里提出的观测器可以估计三个主要的物理值：(1)轮椅的速度，(2)轮椅身体相对于地面的倾斜角，以及(3)外部扰动。该观测器利用卡尔曼滤波理论对来自三个传感器的信息进行融合。为了防止轮椅倾覆的问题，应根据轮椅的倾斜角和角速度的不同，降低轮椅所附电机的辅助功率。这样，就可以利用所提出的观测器和变辅助比控制器来实现。
We have developed an observer and controllers for wheelchairs in slope environments in this paper. We select two problems that frequently happen in power-assisted wheelchair caused by gravity. The first problem lies in overturning of wheelchairs and the second problem occurs when the difficulty happens in propulsion of wheelchairs on a hill. The former is related to the observation problem, and the latter is related to the control problem. We would like to propose solutions to the both problems. The observer, which we would like to propose here can estimate three main physical values; (1) the speed of the wheelchair, (2) the leaning angle of the wheelchair body from the ground, and (3) external disturbances. The observer can sensor-fuse the informations from three sensors, which it uses the Kalman filter theory. In order to prevent the problem of the wheelchair's overturning, assistive power by the motor attached to the wheelchair should be decreased according to the state of the wheelchair concerning the leaning angle and its angular velocity. By this, it can realized by using the proposed observer and varying assistance-ratio controller.