書誌事項
- タイトル別名
-
- Novel Control Scheme of Power Assisted Wheelchair for Preventing Overturn (Part II)<br>-Variable Assistance Ratio Control Based on Estimation of Center-of-Gravity Angle and Phase Plane-
- パワーアシスト車椅子の後方転倒防止制御(2)重心位置推定と位相平面に基づく可変アシスト比制御
- パワーアシスト クルマイス ノ コウホウ テントウ ボウシ セイギョ 2 ジュウシン イチ スイテイ ト イソウ ヘイメン ニ モトヅク カヘン アシストヒ セイギョ
この論文をさがす
抄録
Aged people and disabled people who have difficulty in walking are increasing. As one of mobility support, significance of a power assisted wheelchair which assists driving force using electric motors and spreads their living areas has been enhanced. However, the increased driving force often causes a dangerous overturn of wheelchair. This paper proposes a novel control method to prevent power assisted wheelchair from overturning.<br>The man-wheelchair system can be regarded as an inverse pendulum model when the front wheels are rising. The center-of-gravity (COG) angle of the model is the most important information directly-linked to overturn. Behavior of the system can be analyzed using phase plane as shown in this paper. The COG angle cannot be directly measured using a sensor, therefore, COG observer based on its velocity is proposed. On the basis of the analysis on phase plane, a novel control method with variable assistance ratio to prevent a dangerous overturn is proposed. The effectiveness of the proposed method is verified by the practical experiments on the flat ground and uphill slope.
収録刊行物
-
- 電気学会論文誌D(産業応用部門誌)
-
電気学会論文誌D(産業応用部門誌) 124 (7), 699-705, 2004
一般社団法人 電気学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679631862144
-
- NII論文ID
- 10013268404
-
- NII書誌ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL書誌ID
- 7020136
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可