TY - GEN
T1 - Maneuverability analysis of front drive type personal vehicle stavi using modeling error compensation system
AU - Maruno, Yutaro
AU - Dan, Yusuke
AU - Zengin, Aydin Tarik
AU - Okajima, Hiroshi
AU - Matsunaga, Nobutomo
PY - 2013
Y1 - 2013
N2 - Electric-powered personal vehicles have been used as a convenient transport device. Therefore, a front-drive-type personal vehicle STAVi, that is easy for elderly but also disabled persons, to climb on from a bed has been focused on. However, front-drive-type personal vehicles are difficult to operate because their over-steering characteristic is strong owing to free casters. If the vehicle can be driven by an easy joystick operation, it will be a comfortable function for all users. STAVi prototype had been developed for driving in hospitals with slow speed drive. However, we sometimes drive STAVi in many places with ordinary speed as a personal vehicle. For personal vehicle, it is well known that under-steer characteristic is required to drive even though the vehicle is front-drive-type. In this paper, we construct a control system for STAVi using a modeling error compensator with a nonlinear reference model to realize a comfortable under-steer characteristics. The advantage of proposed controller is discussed and it is clarified that the over-steering characteristic can be modified to be under-steering one. By using proposed method, the maneuverability can be improved for front-drive-type vehicle STAVi and its joystick operation is evaluated by phase-plane analysis.
AB - Electric-powered personal vehicles have been used as a convenient transport device. Therefore, a front-drive-type personal vehicle STAVi, that is easy for elderly but also disabled persons, to climb on from a bed has been focused on. However, front-drive-type personal vehicles are difficult to operate because their over-steering characteristic is strong owing to free casters. If the vehicle can be driven by an easy joystick operation, it will be a comfortable function for all users. STAVi prototype had been developed for driving in hospitals with slow speed drive. However, we sometimes drive STAVi in many places with ordinary speed as a personal vehicle. For personal vehicle, it is well known that under-steer characteristic is required to drive even though the vehicle is front-drive-type. In this paper, we construct a control system for STAVi using a modeling error compensator with a nonlinear reference model to realize a comfortable under-steer characteristics. The advantage of proposed controller is discussed and it is clarified that the over-steering characteristic can be modified to be under-steering one. By using proposed method, the maneuverability can be improved for front-drive-type vehicle STAVi and its joystick operation is evaluated by phase-plane analysis.
KW - Free caster
KW - Front drive
KW - Modeling error compensator
KW - Over-steering
KW - Personal vehicle
KW - Phase-plane analysis
UR - https://www.scopus.com/pages/publications/84885928496
U2 - 10.3182/20130904-4-JP-2042.00025
DO - 10.3182/20130904-4-JP-2042.00025
M3 - Conference contribution
AN - SCOPUS:84885928496
SN - 9783902823434
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 837
EP - 842
BT - 7th IFAC Symposium on Advances in Automotive Control, AAC 2013 - Proceedings
PB - IFAC Secretariat
T2 - 7th IFAC Symposium on Advances in Automotive Control, AAC 2013
Y2 - 4 September 2013 through 7 September 2013
ER -