Optimization and simulation of maneuverability and stability of electric wheelchair based on three degrees of freedom model
10.3969/j.issn.1006-9771.2023.04.002
- VernacularTitle:基于三自由度模型的电动轮椅操纵稳定性优化与仿真
- Author:
Changjian ZHU
1
;
Shaoqi ZHENG
1
;
Zhibing GONG
2
;
Xu KE
2
;
Youpeng ZHAO
1
Author Information
1. Kangni Mechanical & Electrical Industry Research Institute, Nanjing Institute of Engineering, Nanjing, Jiangsu 211167, China
2. Group Technology Center, Nanjing Kangni Mechanical & Electrical Co., Ltd., Nanjing, Jiangsu 210013, China
- Publication Type:Journal Article
- Keywords:
electric wheelchair;
three degrees of freedom model;
optimization;
simulation;
handling stability
- From:
Chinese Journal of Rehabilitation Theory and Practice
2023;29(4):381-389
- CountryChina
- Language:Chinese
-
Abstract:
ObjectiveTo propose a three-degree-of-freedom model of electric wheelchair, to optimize the steering stability of the wheelchair. MethodsBased on the two degrees of freedom vehicle model and considering the influence of body inertia and lateral wind, the wheelchair roll angle was introduced to establish the three degrees of freedom steering model of wheelchair. The lateral velocity, centroid sideslip angle, yaw rate and body roll angle response of the motor angular velocity input under different working conditions were simulated and analyzed respectively. Taking KS2 electric wheelchair as an example, the wheelchair steering experiment was designed to verify the rationality and feasibility of the model, and the optimization effect of the model algorithm on the wheelchair handling and stability. ResultsThe maneuverability and stability of the electric wheelchair with three degrees of freedom model algorithm were significantly improved, and the response curve was smoother. The smaller the |VL-VR|/t was, the better the handling stability was when the left and right motors of the wheelchair had the same steering direction. When |VL-VR|/t was the same, the steering maneuverability was better on the reverse rotation of the motor, but the handling stability also decreased. ConclusionThe simulation analysis is in good agreement with the experimental results, which verifies that the model is reasonable and feasible. The model algorithm can better optimize the handling stability of electric wheelchairs, and can be generally applied to study and analyze the handling stability of different wheelchairs when they turn.
