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Assisting Unit of Standard Wheelchairs by Using Internal Model Control

Research Project

Project/Area Number 13650500
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKanazawa Institute of Technology

Principal Investigator

KOBAYASHI Nobuaki  Kanazawa Institute of Technology, Mechanical Systems Engineering, Professor, 工学部, 教授 (60186757)

Co-Investigator(Kenkyū-buntansha) SUZUKI Ryoichi  Kanazawa Institute of Technology, Mechanical Systems Engineering, Assistant Professor, 工学部, 講師 (50319042)
Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 2002: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2001: ¥1,500,000 (Direct Cost: ¥1,500,000)
KeywordsWheelchairs / Internal Model Control / LQ Control / Assisting Unit / Single Side Driven Wheelchairs / 標準型車椅子 / 走行補助ユニット / マイコン制御 / 片手駆動式車椅子 / 車いす / 片手駆動式車いす
Research Abstract

The study is focused on the design and testing of a newly assisting unit of standard wheelchairs for hemiplegia person. People with the type of disability often drive standard wheelchairs one active hand and foot in the present situation. Conventional single side driven non-powered wheelchairs have various types of problems, e.g., large rotation radius, difficulty of operations.
The purpose of this study is to solve these problems of current single side driven wheelchairs by using internal model control (IMC) design structure from technology of independence point of view. The control method by combining the IMC design with limiting properties of LQ control is implemented to a mass-spring system. Robust stability for parameter perturbation is also discussed in theoretically.
The other hand, all stabilizing controller with limiting properties of LQ control are also discussed in this study. The proposed stabilizing controller has disturbance decoupling properties which is the same as internal model, control and can reduce influence of disturbance added to system for multiplier effects by using limiting properties of LQ control.
The assisting unit of standard wheelchair is evaluated by experiments. The results show that the method is effective on tracking control for constructing the single side driven wheelchair.

Report

(3 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • Research Products

    (9 results)

All Other

All Publications (9 results)

  • [Publications] 鈴木亮一, 谷正史, 長谷川智士, 小林伸明: "H∞制御を併用した内部モデル制御による外乱除去制御"日本機械学会論文集C編. 68・676. 202-207 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 小林伸明, 鈴木亮一, 谷正史, 中俊英, 神戸康有: "片手で操作できる標準型車いすの設計開発"計測自動制御学会論文集. 38・12. 1023-1029 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 鈴木亮一, 小林伸明, 土肥雅晴, 古屋栄彦, 倉川哲司: "内部モデル制御と最適レギュレータの極限的性質の相乗効果を利用した軌道追従制御"日本機械学会論文集C編. 67・663. 3519-3524 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Ryoichi Suzuki, Masashi Tani, Satoshi Hasegawa and Nobuaki Kobayashi: "Disturbance Decoupling Using IMC Design with H∽ control"Trails. Of the Japan Society of Mechanical Engineers. 68, No.676. 3660-3665 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Nobuaki Kobayashi, Ryoichi Suzuki, Masashi Tani, Toshihide Naka and Yasutomo Kanbe: "Design and Development of Single Side Driven Wheelchairs - Application of Internal Model Control and LQ Control -"Trans. SICE. 38, No.12. 1023-1029 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Ryoichi Suzuki, Nobuaki Kobayashi, Masaharu Doi, Shigehiko Furuya and Satoshi Kurakawa: "Multiplicative Effect by Combining IMC Design with Limiting Properties of LQR and Its Application to Trajectory Tracking Control."Trans. Of the Japan Society of Mechanical Engineers. 67, No.663. 3660-3665 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 小林伸明, 鈴木亮一他3名: "片手で操作できる標準型車いすの設計開発-内部モデル制御と最適制御を併用した走行補助装置の制御-"計測自動制御学会論文集. 38・12. 1023-1029 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 鈴木亮一, 他2名, 小林伸明: "H∞制御を併用した内部モデル制御による外乱除去制御"日本機械学会論文集C編. 68・676. 202-207 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 鈴木亮一, 小林伸明他3名: "内部モデル制御と最適レギュレータの極限的性質の相乗効果を利用した軌道追従制御"日本機械学会論文集C編. 67・663. 3519-3524 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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