A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

Kim Dong-Youn; Kim Yong-Hyu; Kim Kwang-Sik; Kim Jang-Mok

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A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

机译：用于手动轮椅的BLDC电动机的电力辅助装置的控制方法

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摘要

This paper proposes a new operation and control strategy for Power-Assisted Wheelchairs (PAW) using one brushless DC (BLDC) motor. The conventional electrical wheelchairs are too heavy and large for one person to move because they have two electric motor wheels. On the other hand, the proposed PAW system has a small volume and is easy to move due to the presence of a single wheel motor. Unlike the conventional electric wheelchairs, this structure for a PAW does not have a control joystick to reduce its weight and volume. To control the wheelchair without a joystick, a special control system and algorithm are needed for proper operation of the wheelchair. In the proposed PAW system uses only one sensor to detect the acceleration and direction of PAW's movement. By using this sensor, speed control can be achieved. With a speed control system, there are three kinds of operations that can be done on the speed of a PAW: the increment of PAW speed by summing external force, the decrement of PAW speed by subtracting external force, and emergency breaking by evaluating the time duration of external force. The validity of the proposed algorithm is verified through experimental results.

机译：本文提出了一种使用一个无刷直流（BLDC）电机的电力辅助轮椅（PAW）的新操作和控制策略。传统的电动轮椅太重，对于一个人来说，一个人移动，因为它们具有两个电动机轮。另一方面，所提出的爪子系统具有较小的体积，并且由于单轮电机的存在而易于移动。与传统的电动轮椅不同，爪子的这种结构没有控制操纵杆，以降低其重量和体积。为了控制没有操纵杆的轮椅，需要一个特殊的控制系统和算法来正确操作轮椅。在所提出的爪子系统中，仅使用一个传感器来检测PAW运动的加速度和方向。通过使用该传感器，可以实现速度控制。通过速度控制系统，有三种操作可以通过爪子的速度来完成：通过求解外力的爪子速度的增量，通过减去外力来减少爪子速度，并通过评估时间来进行紧急打破外力持续时间。通过实验结果验证了所提出的算法的有效性。

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来源
《SIAM journal on applied dynamical systems》 |2017年第2期|共7页
作者
Kim Dong-Youn; Kim Yong-Hyu; Kim Kwang-Sik; Kim Jang-Mok;
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作者单位

Pusan Natl Univ Dept Elect Engn Busan South Korea;

Busan Techno Pk Automot Parts Technol Support Ctr Busan South Korea;

LG Elect Chang Won South Korea;

Pusan Natl Univ Dept Elect Engn Busan South Korea;

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原文格式 PDF
正文语种 eng
中图分类动力系统理论;
关键词
Assist equipment; Brushless DC motor; Power-assisted wheelchair sensor; Speed control; Wheelchair control;

机译：辅助设备;无刷直流电动机;功率辅助轮椅传感器;速度控制;轮椅控制;

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1. A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs [J] . Kim Dong-Youn, Kim Yong-Hyu, Kim Kwang-Sik, SIAM journal on applied dynamical systems . 2017,第2期

机译：用于手动轮椅的BLDC电动机的电力辅助装置的控制方法
2. Manual wheelchair-handling skills by caregivers using new and conventional rear anti-tip devices: a randomized controlled trial. [J] . Kirby RL, Walker R, Smith C Archives of Physical Medicine and Rehabilitation . 2009,第10期

机译：护理人员使用新的和传统的后防倾倒装置的手动轮椅处理技能：一项随机对照试验。
3. Analysis of the influence of inverter PWM speed control methods on the operation of a BLDC motor [J] . Marek Pawe? Ciurys Archives of Electrical Engineering . 2018,第4期

机译：逆变器PWM速度控制方法对BLDC电动机运行影响的影响分析
4. Manual, automatic and shared methods for controlling an intelligent wheelchair: Adaptation to cerebral palsy users [C] . Faria Brigida Monica, Reis Luis Paulo, Lau Nuno 2013 13th International Conference on Autonomous Robot Systems . 2013

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5. Pediatric wheelchair transportation safety: Transit manual wheelchair design guidelines and injury risk of 6-year-old children in a frontal motor vehicle impact. [D] . Ha, DongRan. 2004

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6. A motor learning approach to training wheelchair propulsion biomechanics for new manual wheelchair users: A pilot study [O] . Kerri A. Morgan, Susan M. Tucker, Joseph W. Klaesner, 2017

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7. Report drawn up on behalf of the Committee on Economic and Monetary Affairs on proposals from the Commission of the European Communities to the Council on the elimination of technical barriers to trade in particular, proposals for directives on the approximation of laws of theMember States relating to:safety belts and restraint systems and head restraints of seats of motorvehicles (Doe. 464/74);headlights for motor vehicles emitting an asymmetrical passing beam or adriving beam or both, and to incandescent electric lamps for suchheadlights (Doe. 452/74);side lights, rear lights and stop lights for motor vehicles and their trailers(Doe. 457/74);the rear registration-plate illuminating device of motor vehicles and theirtrailers (Doe. 450/74);towing hooks on motor vehicles (Doe. 462/74);the roll-over protection structures of wheeled agricultural or forestrytractors (Doe. 456/74);the type-approval of motorcycles (Doe. 463/74 );alcoholometers and hydrometers for alcohol and alcohol tables(Doe. 406/74);electromedical equipment and medical X-ray equipment operating at 10to 400 kV (Doe. 453/74);common provisions for constructional plant and equipment; themeasurement of the sound level of constructional plant and equipment;the permissible sound level for pneumatic concrete-breakers andjackhammers (Doe. 454/74); 'appliances using gaseous fuels, safety and control devices for theseappliances and methods for inspecting these appliances and appliancesusing gaseous fuels for the instantaneous production of hot water forsanitary purposes (Doe. 459/74). Working Documents 1974-1975, Document 517/74, 10 March 1975 [O] . 1975

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A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

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