A Development for Power-Assisted Wheelchair Using Lyapunov Approach to Design The Exerted Torques Observer

• Main Authors: Chuong, Tran-Hong, 陳紅章
• Other Authors: Chen, Pei-Chung
• Format: Others
• Language: zh-TW
• Published: 103
• Online Access: http://ndltd.ncl.edu.tw/handle/09728190217807464402

碩士 === 南台科技大學 === 機械工程系 === 102 === Power-assisted wheelchair (PAW), based on the disturbance torques exerted by the user, provides the assistive torques produced by the motors is widely used as a mobility support device for elderly and disabled people. However, most of them use torque sensors which require complex design thus increase the price of product. Moreover, the power-assisted procedure is limited because the input forces are only detectable at the sensor-attached position. This means that the power-assisted control is not achieved in any motion mode. In this thesis, a new design of torque-sensor-free PAW based on a manual wheelchair is proposed by modifying the mechanism and creating control system. The content of this thesis is organized as followings. First, the basic concept of PAW and torques observer based on Lyapunov theorem are introduced. Second, the control algorithms are proposed. It includes the torques-sensor-free observer based on Lyapunov theorem. Hence, based on the observed disturbance torques, the exerted torques caused by user are calculated. Based on the exerted torques, the reference displacements of PAW are generated. Then, PID controller is employed to implement the displacement control of PAW. Third, the design of mechanical system and electrical system of PAW are demonstrated. Finally, the experiment results of PAW driving in flat road condition are provided to evaluate the effectiveness of proposed control approach.