TY - GEN
T1 - Driving experiment of front drive type electric wheelchair using yaw-rate control
AU - Maruno, Yutaro
AU - Zengin, Aydin Tarik
AU - Okajima, Hiroshi
AU - Matsunaga, Nobutomo
AU - Nakamura, Norihito
PY - 2012
Y1 - 2012
N2 - Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, a front drive type electric wheelchair which is easy for handicapped persons to get on has been focused on. However, the front drive type electric 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 handicapped persons. To control the front drive type electric wheelchair, we have proposed a new control method which achieves the desired steering characteristic based on the internal model control. In this paper, we show driving experiments and evaluate the effectiveness of this method. First, dynamic characteristic of the wheelchair is clarified by simulation and driving experiments. Next, attitude control method of the wheelchair using yaw rate information is presented. Finally, the effectiveness of proposed method is confirmed by driving control simulations and experiments on slope, and the improvement of maneuverability is evaluated by motion of operation stick by driver.
AB - Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, a front drive type electric wheelchair which is easy for handicapped persons to get on has been focused on. However, the front drive type electric 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 handicapped persons. To control the front drive type electric wheelchair, we have proposed a new control method which achieves the desired steering characteristic based on the internal model control. In this paper, we show driving experiments and evaluate the effectiveness of this method. First, dynamic characteristic of the wheelchair is clarified by simulation and driving experiments. Next, attitude control method of the wheelchair using yaw rate information is presented. Finally, the effectiveness of proposed method is confirmed by driving control simulations and experiments on slope, and the improvement of maneuverability is evaluated by motion of operation stick by driver.
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=84869464647&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84869464647
SN - 9781467322591
T3 - Proceedings of the SICE Annual Conference
SP - 1408
EP - 1413
BT - 2012 Proceedings of SICE Annual Conference, SICE 2012
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Y2 - 20 August 2012 through 23 August 2012
ER -