Integrated synchronized motion control for a force sensorless power-assisted wheelchair

Po Wen Hsueh, Mi Ching Tsai, Hung Ting Pan, Albane Grandjean

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.

原文English
主出版物標題Proceedings of the 18th IFAC World Congress
發行者IFAC Secretariat
頁面5956-5961
頁數6
版本1 PART 1
ISBN(列印)9783902661937
DOIs
出版狀態Published - 2011 一月 1

出版系列

名字IFAC Proceedings Volumes (IFAC-PapersOnline)
號碼1 PART 1
44
ISSN(列印)1474-6670

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • 引用此

    Hsueh, P. W., Tsai, M. C., Pan, H. T., & Grandjean, A. (2011). Integrated synchronized motion control for a force sensorless power-assisted wheelchair. 於 Proceedings of the 18th IFAC World Congress (1 PART 1 編輯, 頁 5956-5961). (IFAC Proceedings Volumes (IFAC-PapersOnline); 卷 44, 編號 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.01769