710 重力補償を考慮した自走車椅子の走行制御に関する研究

概要

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At the steep slope environment, the electric wheelchair has a serious problem for autonomous driving. Unstable driving performance of a wheelchair must be improved for senior or immobile users. We examined the effect of the gravitational force at a steep slope when a wheelchair is driven at slow speed. In this paper, we proposed the control model of a wheelchair which has two order system of transfer function. PID control was done and motor speed correspond to variation of slope gradient is controlled with rotary encoder. If three axes acceleration sensors are settled on a head, hand and arm, the output signal of this sensor can be utilized for the driving command for wheelchair. We achieved the stable speed control even if at a slope condition and can eliminated the disturbance of the plant and controller by the optimum design.
一般社団法人日本機械学会の論文
2007-09-25