TY - GEN
T1 - Direct yaw moment control of front drive type electric wheelchair with free-casters
AU - Maruno, Yutaro
AU - Okajima, Hiroshi
AU - Zengin, Aydin Tarik
AU - Matsunaga, Nobutomo
PY - 2011
Y1 - 2011
N2 - Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.
AB - Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.
KW - Direct yaw moment control
KW - Electrical wheelchair
KW - Free caster
KW - Front drive
KW - Internal model control
KW - Over-steering
UR - http://www.scopus.com/inward/record.url?scp=84856524190&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84856524190
SN - 9781457708350
T3 - International Conference on Control, Automation and Systems
SP - 13
EP - 18
BT - ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
T2 - 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Y2 - 26 October 2011 through 29 October 2011
ER -