Analysis of in-wheel motorized wheelchair cornering performance with electro-mechanical co-simulation

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• 作者：Jin-Seop Song (1)
  Myung-Jin Baek (2)
  Hong-Joon Noh (3)
  Seung-Hyeon Cho (2)
  Hyung-Soo Mok (4)
  Chang-Wan Kim (2)
  
  1. Korea Institute of Machinery and Materials ; 156 ; Gajeongbuk-ro ; Yuseong-gu ; Daejeon ; 305-343 ; South Korea
  2. School of Mechanical Engineering ; Konkuk University ; 120 ; Neungdong-ro ; Gwangjin-gu ; Seoul ; 143-701 ; South Korea
  3. School of Mechanical Engineering ; Hanyang University ; 222 ; Wangsimni-ro ; Seongdong-gu ; Seoul ; 133-791 ; South Korea
  4. Department of Electrical Engineering ; Konkuk University ; 120 ; Neungdong-ro ; Gwangjin-gu ; Seoul ; 143-701 ; South Korea
  
• 关键词：Electric wheelchair ; In ; wheel motor ; Direct yaw ; moment control ; Multi ; body dynamics ; Control ; Co ; simulation
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2015
• 出版时间：March 2015
• 年：2015
• 卷：16
• 期：3
• 页码：501-507
• 全文大小：1,172 KB
• 参考文献：1. Ohnabe, H., Mizuguchi, F. (2001) Turning Characteristics and Stability of Manual Wheelchairs on a Slope. Proc. of the IEEE 23rd Annual International Conference on Engineering in Medicine and Biology Society 2: pp. 1408-1411
  2. Choi, K., Sato, M., Koike, Y. (2006) A New, Human-Centered Wheelchair System Controlled by the EMG Signal. Proc. of International Joint Conference on Neural Networks. pp. 4664-4671
  3. Hori, Y. (2004) Future Vehicle Driven by Electricity and Control-Research on Four-Wheel-Motored鈥?UOT Electric March II鈥? IEEE Transactions on Industrial Electronics 51: pp. 954-962 CrossRef
  4. Feiqiang, L., Jun, W., Zhaodu, L. (2009) Motor Torque based Vehicle Stability Control for Four-Wheel-Drive Electric Vehicle. Proc. of IEEE Vehicle Power and Propulsion Conference. pp. 1596-1601
  5. Abe, M., Ohkubo, N., Kano, Y. (1996) A Direct Yaw Moment Control for Improving Limit Performance of Vehicle Handling-Comparison and Cooperation with 4WS. Vehicle System Dynamics 25: pp. 3-23 CrossRef
  6. Abe, M., Ohkubo, N., Kano, Y. (1994) Comparison of 4WS and Direct Yaw Moment Control (DYC) for Improvement of Vehicle Handling Performance. Proc. of the International Symposium on Advanced Vehicle Control. pp. 159-164
  7. Inagaki, H., Akuzawa, K., Sato, M. (1992) Yaw Rate Feedback Braking Force Distribution Control with Control-by-Wire Brake System. Proc. of International Symposium on Advanced Vehicle Control.
  8. Matsumoto, S., Yamaguchi, H., Inoue, H., Yasuno, Y. (1992) Braking Force Distribution Control for Improved Vehicle Dynamics. Proc. of SAE Conference Proceedings P. pp. 441-446
  9. Motoyama, S., Uki, H., Isoda, K., Yuasa, H. (1993) Effect of Traction Force Distribution Control on Vehicle Dynamics. Vehicle System Dynamics 22: pp. 455-464 CrossRef
  10. Tashiro, S., Murakami, T. (2008) Step Passage Control of a Power-Assisted Wheelchair for a Caregiver. IEEE Transactions on Industrial Electronics 55: pp. 1715-1721 CrossRef
  11. Seki, H., Sugimoto, T., Tadakuma, S. (2006) Novel Straight Road Driving Control of Power Assisted Wheelchair based on Disturbance Estimation of Right and Left Wheels. IEEJ Transactions on Industry Applications 126: pp. 764-770 CrossRef
  12. Seki, H., Sugimoto, T., Tadakuma, S. (2006) Novel Straight Road Driving Control of Power Assisted Wheelchair based on Disturbance Estimation of Right and Left Wheels. IEEE Transactions on Industry Applications 126: pp. 764-770 CrossRef
  13. Oh, S., Hata, N., Hori, Y. (2008) Integrated Motion Control of a Wheelchair in the Longitudinal, Lateral, and Pitch Directions. IEEE Transactions on Industrial Electronics 55: pp. 1855-1862 CrossRef
  14. Gaal, R. P., Rebholtz, N., Hotchkiss, R. D., Pfaelzer, P. F. (1997) Wheelchair Rider Injuries: Causes and Consequences for Wheelchair Design and Selection. Journal of Rehabilitation Research and Development 34: pp. 58-71
  15. Fujimoto, H., Tsumasaka, A., Noguchi, T. (2005) Direct Yaw-Moment Control of Electric Vehicle based on Cornering Stiffness Estimation. Proc. of IEEE 31st Annual Conference on Industrial Electronics Society.
  16. Maruno, Y., Okajima, H., Zengin, A. T., Matsunaga, N. (2011) Direct Yaw Moment Control of Front Drive Type Electric Wheelchair with Free-Casters. Proc. of 11th International Conference on Control, Automation and Systems. pp. 13-18
  
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering
  Materials Science
  
• 出版者：Korean Society for Precision Engineering, in co-publication with Springer Verlag GmbH
• ISSN：2005-4602

文摘

As our society is aging, studies on the transport means of the elderly are being actively conducted. The present work is a study for developing a control algorithm for an in-wheel motorized wheelchair equipped with an electric driving motor, which is an environmentally friendly device, on a two-axis wheel and applying the developed algorithm to a multi-body dynamics analysis model and an actual electric wheelchair in order to analyze the effect thereof. The goal of the control algorithm under development is to control the in-wheel driving motor in order to track a more accurate direction and prevent runway. In the present study, we suggested a method for improving cornering stability by controlling yaw moment generated by the torque difference of the yaw rate, which the rate of rotation in the yaw direction through controlling the in-wheel motors installed in each driving wheel and the turning wheel as the control objects. In order to verify the suggested algorithm, we conducted an electrical-mechanical system co-simulation by interworking with a multi-body dynamics analysis system model and applied this to an actual in-wheel electric wheelchair.