A Study on Slip Controller for Safety Improvement of Running Flat Road for Motorized Wheelchair

Bo Min Kim; Won Yung Lee; Eung Hyuk Lee

doi:10.4028/www.scientific.net/AMM.789-790.906

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 789-790A Study on Slip Controller for Safety Improvement...

A Study on Slip Controller for Safety Improvement of Running Flat Road for Motorized Wheelchair

Abstract:

A slip controller that can move against the off-track and control excursion caused by slips while driving a motorized wheelchair is proposed. Detecting slips in a motorized wheelchair is to detect states of the motorized wheelchair and its motors in a traveling condition. For carrying it, slip ratios are calculated using a slip detection algorithm based on the information obtained from the six-axis IMU sensor and the encoders, which are connected to both left and right motors. The calculated slip ratios are used as control variables for improving the safety in a motorized wheelchair. In the experiment of the slip controller proposed in this study, slips are verified in a proposed track. Also, it is verified that the maximum slip ratio section is determined while turning left or right.

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Periodical:

Applied Mechanics and Materials (Volumes 789-790)

Pages:

906-912

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.789-790.906

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Online since:

September 2015

Authors:

Bo Min Kim, Won Yung Lee, Eung Hyuk Lee

Keywords:

Motorized Wheelchair, Slip, Slip Controller, Torque

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