| 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 |
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| 引用本文： | 吴世训,堀洋一. 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[J]. 河北工业大学学报, 2007, 36(2): 27-33 |
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| 作者姓名： | 吴世训 堀洋一 |
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| 作者单位： | 东京大学,生产技术研究所,东京,153-8505 |
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| 摘 要： | 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.
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| 关 键 词： | 电动辅助轮椅 干扰抑制 二自由度控制 阻抗控制 干扰观测器 |
| 文章编号： | 1007-2373(2007)02-0027-07 |
| 修稿时间： | 2006-11-24 |
Gravity Attenuation Control for a Power-assisted Wheelchair Based on Human''''s Locomotion Control |
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| WU Shi-xun,HORI Yoi-chi. Gravity Attenuation Control for a Power-assisted Wheelchair Based on Human''''s Locomotion Control[J]. Journal of Hebei University of Technology, 2007, 36(2): 27-33 |
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| Authors: | WU Shi-xun HORI Yoi-chi |
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| Affiliation: | Institute of Industrial Science;The University of Tokyo;Tokyo 153-8505;Japan |
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| Abstract: | 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 at- tenuation 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 dis- turbance attenuation control can be a... |
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| Keywords: | power-assisted wheelchair disturbance attenuation two-dimensional control impedance control disturbance observer |
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