最佳化交互耦合控制於手輪馬達電動輪椅之路徑追蹤

Abstract

本研究提出一最佳化交互耦合控制應用於手輪馬達電動輪椅，目的在最短的時間內調整輪椅左、右兩輪之速度比例，以維持指定路徑下的轉向半徑，進而達到路徑追蹤的目標。此控制策略主要的設計概念，係使左、右兩馬達能夠以最快的速度、同等的時間調整速度，使其符合兩馬達之速度比例，因此只要將兩輪的速度補償值設計成相等即可。由實際測試的結果顯示，本研究所提出之方法可在不同環境干擾下維持輪椅的路徑，以提高輪椅在不同環境下的安全性。與傳統交互耦合控制器相比較，此方法可減少與參考速度的誤差，並縮短達到參考速度比例所花費的時間，而使路徑偏差進一步地減小，提升手輪馬達式電動輪椅的操作性能。

In this study, a novel optimal cross-coupling control (OCCC) for a power wheelchair with rim motors (rim motor wheelchair) was proposed. It aims to adjust the speed ratio of both motors in shortest time, and maintain the curvature of the specified path for path tracking. The concept of the proposed approach is making both motors adjust their speed fast with equal time cost, and it can be achieved by arranging the speed compensated value of both motors equally. The results show that the proposed control method can maintain the driving path of wheelchair with different environment disturbances, which increases the driving safety of wheelchair in different environments. Compared with traditional cross-coupling control, the proposed method can reduce the error from reference speed, and shorten the adjusting time from reference speed ratio, further reducing the path deviation and increase the drivability of the rim motor wheelchair.