NDLI: Voltage-current-based state and disturbance estimation for power-assisted control applied to an electric wheelchair

Content Provider	IEEE Xplore Digital Library
Author	Po-Wen Hsueh Mi-Ching Tsai Cheng-Ying Lin Po-Jen Ko Wu-Sung Yao
Copyright Year	2014
Description	Author affiliation: Nat. Kaohsiung First Univ. of Sci. & Technol., Kaohsiung, Taiwan (Wu-Sung Yao) \|\| Nat. Cheng Kung Univ., Tainan, Taiwan (Po-Wen Hsueh; Mi-Ching Tsai; Cheng-Ying Lin; Po-Jen Ko)
Abstract	The dual-drive electric wheelchair with power assisted control is essential for improving the mobility of disabled people. In this paper, a voltage-current-based observer is proposed to realize the force/torque sensorless control of power-assisted wheelchairs. The feature of the proposed observer is that only the input voltage and armature current response of the driving motor are required for the estimation. The observer which is constructed with the motor dynamic model and two low-pass filters is employed to estimate the velocity, acceleration and external disturbance of the electric wheelchair. Then, a decoupling method is presented to retrieve the actual human input from the external disturbance estimated by the observer such that the power-assisted control can be achieved within the human's intuitive motion space. This paper presents a power-assisted control strategy which is conducted directly in both the translational and rotational motions of the dual drive wheelchair. The voltage-current-based observer designed for the force/torque sensorless power-assisted control is implemented on an electric wheelchair, and its effectiveness is verified with experimental results.
Starting Page	1220
Ending Page	1225
File Size	430117
Page Count	6
File Format	PDF
e-ISBN	9781479952830
DOI	10.1109/CoASE.2014.6899482
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Conferences Automation Computer aided software engineering
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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