基于人类运动控制的用于电动辅助轮椅的重力抑制控制方法

Gravity Attenuation Control for a Power-assisted Wheelchair Based on Human's Locomotion Control

尽管电动辅助轮椅越来越需要干扰抑制控制,但是这类研究还不多.本文基于对人类运动控制的研究提出一种干扰抑制控制方法,该方法对纵向运动采用速度控制,而对横向运动采用位置控制.由于本研究所使用的电动辅助轮椅有两个电动马达,所以在纵横两个方向上可以采用不同的干扰抑制控制.本文设计了纵横两个方向上的干扰抑制控制器,并且进行了试验验证.文中主要外在干扰为重力.

There have been few researches on disturbance attenuation control for power-assisted wheelchairs, although they are getting more requested. This paper suggests that disturbance attenuation control. The proposed disturbance attenuation is based on the human＇s locomotion control; that is, velocity control for the longitudinal direction and position control for the lateral control. Since the power-assisted wheelchair used in this paper has two motors, two different disturbance attenuation control can be adopted for two directions. Control design for this disturbance attenuation for two directions is suggested and verified by real experiments using a power-assisted wheelchair. Especially, the gravity is considered as the dominant disturbance.