抄録
Recently, the people who need powered wheelchairs have been increasing due to its aging society. When people take ride in powered wheelchairs, riding comfort is very important. Acceleration and vibration are concerned with riding comfort strongly. In addition to riding comfort, wheelchairs must have good response to reference velocity because collision must be avoided. Therefore, we propose a control system which can reduce the vibration of body and achieve quick response. For reducing the vibration of body, we design feedforward input using Nil-Mode-Exciting (NME) profiler (which is called preshaping profiler). NME profiler is based on sine function, so control input has low pass characteristic. Then natural vibration of body is escaped. However, when the NME profiler is used as a feedforward input, it cannot compensate robustness about body's weight or friction. To deal with this problem, we design a wheel velocity feedback control added to the feedforward control. The effectiveness of the proposed method is verified by numerical simulations.
