具有无传感器力估计和坡度辅助系统的动力附加单元的研制

Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI:10.9746/sicetr.55.726

Peirang Li, Chi Zhu

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引用次数: 0

摘要

近年来，人口老龄化已成为发达国家一个严重的现实问题。而护理人员的数量在逐渐减少，护理负担在不断增加。在本研究中，开发了一种新型的电源附加驱动单元(PAU)，以减轻照顾者的照顾负担。PAU可以很容易地与手动轮椅连接或分离。该PAU非常实用，在成本、便携性、兼容性等方面具有优势。由于PAU是由护理人员推动的，因此需要一种新的控制方法来方便使用。本文提出了一种无力传感器观测器，并从运动学角度分析了轮椅在斜坡上运行时的负荷。最后，通过实验验证了本文方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of Power Add-on Unit with Sensorless Force Estimation and Slope-assistance System

In recent years, the aging population has become a serious solid problem in developed countries. Whereas the number of caregivers is decreasing gradually, and the care burden is increasing. In this study, a novel power add-on driving unit (PAU) is developed for the reduction of the caregiver’s care burden. The PAU can be attached to or detached from the manual wheelchair easily. This PAU is very practical and has merits in cost, portability, compatibility and so on. Since the PAU is propelled by the caregiver, a novel control method is necessary for the ease of use. In this paper, a force sensorless observer is proposed, and the burden of wheelchair running on the slope is analyzed from kinematics. Finally, the eﬀectiveness of our proposed burden reduction method is veriﬁed by the experiments.

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Transactions of the Society of Instrument and Control Engineers

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