Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors

Mi-Ching Tsai, Po Wen Hsueh

研究成果: Conference contribution

7 引文 (Scopus)

摘要

How to maintain the speed and direction of a wheelchair simultaneously in an unknown environment is essential. This paper presents a prototype of the wheelchair driven by dual direct-drive wheel motors, and the synchronized control scheme of the wheelchair system according to the motion mode of a joystick is proposed. By analyzing the dynamic behavior of a wheelchair, the synchronized error of dual direct-drive wheel motors is derived and a synchronized motion control method is utilized to coordinate the output of a pair of wheel motors to significantly reduce the synchronized error. Simulation and experimental results are given to validate the performance of the synchronized motion control for the wheelchair system.

原文English
主出版物標題AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
頁面702-707
頁數6
DOIs
出版狀態Published - 2012 十月 5
事件2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan
持續時間: 2012 七月 112012 七月 14

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
國家Taiwan
城市Kaohsiung
期間12-07-1112-07-14

指紋

Wheelchairs
Motion control
Wheels

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

引用此文

Tsai, M-C., & Hsueh, P. W. (2012). Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. 於 AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest (頁 702-707). [6266027] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6266027
Tsai, Mi-Ching ; Hsueh, Po Wen. / Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. 頁 702-707 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
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abstract = "How to maintain the speed and direction of a wheelchair simultaneously in an unknown environment is essential. This paper presents a prototype of the wheelchair driven by dual direct-drive wheel motors, and the synchronized control scheme of the wheelchair system according to the motion mode of a joystick is proposed. By analyzing the dynamic behavior of a wheelchair, the synchronized error of dual direct-drive wheel motors is derived and a synchronized motion control method is utilized to coordinate the output of a pair of wheel motors to significantly reduce the synchronized error. Simulation and experimental results are given to validate the performance of the synchronized motion control for the wheelchair system.",
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Tsai, M-C & Hsueh, PW 2012, Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. 於 AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest., 6266027, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 頁 702-707, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, Taiwan, 12-07-11. https://doi.org/10.1109/AIM.2012.6266027

Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. / Tsai, Mi-Ching; Hsueh, Po Wen.

AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 702-707 6266027 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

研究成果: Conference contribution

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AB - How to maintain the speed and direction of a wheelchair simultaneously in an unknown environment is essential. This paper presents a prototype of the wheelchair driven by dual direct-drive wheel motors, and the synchronized control scheme of the wheelchair system according to the motion mode of a joystick is proposed. By analyzing the dynamic behavior of a wheelchair, the synchronized error of dual direct-drive wheel motors is derived and a synchronized motion control method is utilized to coordinate the output of a pair of wheel motors to significantly reduce the synchronized error. Simulation and experimental results are given to validate the performance of the synchronized motion control for the wheelchair system.

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Tsai M-C, Hsueh PW. Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. 於 AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 702-707. 6266027. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6266027