基于三自由度模型的电动轮椅操纵稳定性优化与仿真

doi:10.3969/j.issn.1006-9771.2023.04.002

《中国康复理论与实践》 ›› 2023, Vol. 29 ›› Issue (4): 381-389.doi: 10.3969/j.issn.1006-9771.2023.04.002

基于三自由度模型的电动轮椅操纵稳定性优化与仿真

朱长建¹, 郑邵骑¹^,²(), 贡智兵³, 柯旭³, 赵有鹏¹^,²

1.南京工程学院康尼机电产业研究院，江苏南京市 211167
2.南京康尼机电股份有限公司研究生工作站，江苏南京市 210013
3.南京康尼机电股份有限公司集团技术中心，江苏南京市 210013

收稿日期:2022-09-13 修回日期:2022-11-08 出版日期:2023-04-25 发布日期:2023-05-19
通讯作者: 郑邵骑，E-mail： y00450200404@njit.edu.cn
作者简介:朱长建(1973-)，男，汉族，安徽颍上县人，硕士，研究员、高级工程师，硕士研究生导师，主要研究方向：新能源汽车、智能大健康装备。

Optimization and simulation of maneuverability and stability of electric wheelchair based on three degrees of freedom model

ZHU Changjian¹, ZHENG Shaoqi¹^,²(), GONG Zhibing³, KE Xu³, ZHAO Youpeng¹^,²

1. Kangni Mechanical & Electrical Industry Research Institute, Nanjing Institute of Engineering, Nanjing, Jiangsu 211167, China
2. Graduate Workstation of Nanjing Kangni Mechanical & Electrical Co., Ltd., Nanjing, Jiangsu 210013, China
3. Group Technology Center, Nanjing Kangni Mechanical & Electrical Co., Ltd., Nanjing, Jiangsu 210013, China

Received:2022-09-13 Revised:2022-11-08 Published:2023-04-25 Online:2023-05-19
Contact: ZHENG Shaoqi, E-mail: y00450200404@njit.edu.cn

摘要/Abstract

摘要：

目的提出一种电动轮椅三自由度模型，旨在优化轮椅转向时的操纵稳定性。
方法基于二自由度车辆模型，同时考虑车身惯性和侧向风的影响，引入转向行驶时的轮椅侧倾角，建立轮椅三自由度转向模型。分别对不同工况下电机角速度输入的侧向速度、质心侧偏角、横摆角速度和车身侧倾角响应进行仿真分析，以KS2电动轮椅为例设计轮椅转向实验，验证模型的合理性和可行性，以及该模型算法对轮椅操纵稳定性的优化效果。
结果加入三自由度模型算法的电动轮椅操纵稳定性能得到显著提高，响应曲线更加平滑。仿真结果表明，轮椅左右电机转向相同时，|V_L-V_R|/t越小操纵稳定性越好；|V_L-V_R|/t相同时，电机反向转动具有更好的转向机动性，但是操纵稳定性也随之降低。
结论仿真分析与实验结果具有较好的一致性，验证该模型具有合理性和可行性，该模型算法可以较好优化电动轮椅的操纵稳定性，可普遍适用于研究和分析不同轮椅转向时的操纵稳定性。

关键词: 电动轮椅, 三自由度模型, 优化, 仿真, 操纵稳定性

Abstract:

Objective To propose a three-degree-of-freedom model of electric wheelchair, to optimize the steering stability of the wheelchair.
Methods Based 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.
Results The 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 |V_L-V_R|/t was, the better the handling stability was when the left and right motors of the wheelchair had the same steering direction. When |V_L-V_R|/t was the same, the steering maneuverability was better on the reverse rotation of the motor, but the handling stability also decreased.
Conclusion The 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.

Key words: electric wheelchair, three degrees of freedom model, optimization, simulation, handling stability

中图分类号:

R496

朱长建, 郑邵骑, 贡智兵, 柯旭, 赵有鹏. 基于三自由度模型的电动轮椅操纵稳定性优化与仿真[J]. 《中国康复理论与实践》, 2023, 29(4): 381-389.

ZHU Changjian, ZHENG Shaoqi, GONG Zhibing, KE Xu, ZHAO Youpeng. Optimization and simulation of maneuverability and stability of electric wheelchair based on three degrees of freedom model[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(4): 381-389.

图/表 11

图1

图2

图3

表1

参数注释"

符号	参数名称	单位	数值
m	轮椅整车质量	kg	96.000
v_x	轮椅侧向速度	m/s
v_y	轮椅纵向速度	m/s
ω_l	左轮毂电机角速度	rad/s
ω_r	右轮毂电机角速度	rad/s
ω	轮椅横摆角速度	rad/s
L	轮椅轴距	m	0.830
B	轮椅轮距	m	0.615
r	轮椅驱动轮半径	m	0.160
R	轮椅转向半径	m
m_s	轮椅簧载质量	Kg	35.000
h	簧载质心到侧倾轴的距离	m	0.300
ϕ	轮椅车身侧倾角	rad
β	质心侧偏角	rad
δ	轮椅前轮转角	rad
Y_β	单位轮椅侧偏角引起的地面侧向反作用力	N/rad
Y_ω	单位横摆角速度引起的地面侧向反作用力	N·s/rad
Y_ϕ	单位侧倾角引起的地面侧向反作用力	N/rad
Y_δ	单位前轮转角引起的地面侧向反作用力	N/rad
I_z	车身绕z轴转动惯量	kg·m²	48.000
I_xz	轮椅质量对x轴对z轴的惯性积	kg·m²	0
N_β	单位质心侧偏角产生的对z轴的力矩	N·m/rad
N_ω	单位横摆角速度产生的对z轴的力矩	N·m·s/rad
N_ϕ	单位侧倾角速度产生的对z轴的力矩	N·m·s/rad
N_δ	单位前轮转角产生的对z轴的力矩	N·m/rad
N_P	单位侧倾角速度产生的对z轴的力矩	N·m·s/rad
_sI_x	悬挂质量对x轴的转动惯量	kg·m²	20.000
L_ϕ	单位侧倾角产生的对x轴的外力矩	N·m/rad
L_P	单位侧倾角速度产生的对x轴的外力矩	N·m·s/rad	68.000
k₁	前轮侧偏刚度(一个车轮)	N/rad	323.000
k₂	后轮侧偏刚度(一个车轮)	N/rad	769.000
a	重心至前轴距离	m	0.420
b	重心至后轴距离	m	0.410
C_ϕ1	前悬架侧倾角刚度	N·m/rad	478.000
C_ϕ2	后悬架侧倾角刚度	N·m/rad	922.000
$∂ α 1 ∂ ϕ$	前轴侧倾转向系数		-0.114
Lp1	单位侧倾角速度在前减震器产生的阻力矩	N·m·s/rad	3432.000
Lp2	单位侧倾角速度在后减震器产生的阻力矩	N·m·s/rad	3432.000

表1

图4

图5

图6

图7

图8

图9

图10

参考文献 35

[1]	张毅, 尹春林, 蔡军. 混合脑电信号及视觉信息的智能轮椅人机交互系统[J]. 智能系统学报, 2016, 11(5): 648-654.
	ZHANG Y, YIN C L, CAI J. Human-computer interaction system for intelligent wheelchair based on hybrid EEG signals and visual information[J]. J Intel Sys, 2016, 11(5): 648-654.
[2]	李鑫, 祁蒙, 董海清, 等. 肌电智能轮椅控制系统设计[J]. 仪表技术, 2018(9): 16-19.
	LI X, QI M, DONG H Q, et al. Design of myoelectric intelligent wheelchair control system[J]. Instr Technol, 2018(9): 16-19.
[3]	梁金伟. 多模态人机交互智能轮椅[D]. 哈尔滨: 哈尔滨理工大学, 2021.
	LIANG J W. Multimodal human-computer interaction intelligent wheelchair[D]. Harbin: Harbin University of Science and Technology, 2021.
[4]	ALNAJJAR F, HALID S, VOGAN A A, et al. Emerging cognitive intervention technologies to meet the needs of an aging population: a systematic review[J]. Front Ag Neurosci, 2019, 11: 291. doi: 10.3389/fnagi.2019.00291
[5]	SHARMILA A, SAINI A, CHOUDHARY S, et al. Solar powered multi-controlled smart wheelchair for disabled: development and features[J]. J Comput Theor Nanosci, 2019, 16(11): 4889-4900. doi: 10.1166/jctn.2019.8401
[6]	华丽. «2014年中国残疾人事业发展统计公报»发布[J]. 现代特殊教育, 2015(7): 44.
[7]	CHOUDHARY J P, CHOUDHARY P G, KULKARNI K M. Design and fabrication of lever operated wheelchair for disabled person with no legs[J]. Engineer Technol, 2019, 1(6): 66-67.
[8]	李双, 刚宪, 于海兴. 汽车操纵动力学三自由度模型与转向特性仿真[J]. 机械设计与制造, 2015(3): 260-264.
	LI S, GANG X, YU H X. Three-degree-of-freedom model of vehicle handling dynamics and simulation of steering characteristics[J]. Mech Design Manufact, 2015(3): 260-264.
[9]	GUO B B, FU T. Modeling and simulation of vehicle handling stability control based on tire pressure[J]. J Physics: Confer Series, 2021, 1948(1): 2-3.
[10]	LI L, GUO T, XU S. Simulation analysis of vehicle handling stability based on trucksim[J]. Confer Series, 2021, 1885(3): 5-8.
[11]	毕锟, 范英, 候峙朴, 等. 基于Carsim和Simulink联合仿真的汽车操纵稳定性评价[J]. 河北工程大学学报(自然科学版), 2022, 39(2): 106-112.
	BI K, FAN Y, HOU Z P, et al. Vehicle handling stability evaluation based on carsim and simulink co-simulation[J]. J Hebei Engineer Univ (Nat Sci Ed), 2022, 39(2): 106-112.
[12]	李书霞, 郑敏毅, 王立夫, 等. 结合整车模型的电液助力转向系统瞬态分析[J]. 计算机仿真, 2016, 33(4): 189-194, 199.
	LI S X, ZHENG M Y, WANG L F, et al. Transient analysis of electro-hydraulic power steering system combined with vehicle model[J]. Comp Simul, 2016, 33(4): 189-194, 199.
[13]	钟凡. 整车操纵稳定性主客观评价一致性研究[D]. 长沙: 湖南大学, 2019.
	ZHONG F. Research on the consistency of subjective and objective evaluation of vehicle handling stability[D]. Changsha: Hunan University, 2019.
[14]	CAO F P, WANG J D. Study on simulation analysis of vehicle handling stability based on MATLAB[J]. IOP Confer Series: Materials Sci Engineer, 2019, 688(3): 1-5.
[15]	WANG C, HE X H, SHEN X M, et al. Analysis of handling stability of hydraulic hybrid vehicle based on ADAMS/Car simulation[J]. IOP Confer Series: Earth Environm Sci, 2018, 186(5): 1-7.
[16]	TERMOUS H, SHRAÏM H, TALJ R, et al. Coordinated control strategies for active steering, differential braking and active suspension for vehicle stability, handling and safety improvement[J]. Vehicle Sys Dynamics, 2019, 57(10): 1494-1529.
[17]	严帅, 张缓缓, 高超, 等. 基于Simulink仿真的线性三自由度汽车操纵模型[J]. 智能计算机与应用, 2020, 10(2): 200-203, 207.
	YAN S, ZHANG H H, GAO C, et al. Linear three-degree-of-freedom vehicle handling model based on Simulink simulation[J]. Intell Computer Appl, 2020, 10(2): 200-203, 207.
[18]	肖健, 曾令全. 基于BP神经网络电动轮汽车行驶状态监测分析[J]. 机械设计与制造, 2019(5): 237-240.
	XIAO J, ZENG L Q. Monitoring and analysis of electric wheel vehicles based on BP neural network[J]. Mech Design Manufact, 2019(5): 237-240.
[19]	范明聪, 吴月华, 许旻, 等. 高机动性越障机器人运动学分析与轨迹控制研究[J]. 光学精密工程, 2004, 12(z1): 194-197.
	FAN M C, WU Y H, XU M, et al. Research on kinematics analysis and trajectory control of high mobility obstacle climbing robot[J]. Optic Precision Engineer, 2004, 12(z1): 194-197.
[20]	孙宇轩. 爬梯轮椅机器人的结构设计与运动研究[D]. 秦皇岛: 燕山大学, 2018.
	SUN Y X. Structural design and motion research of ladder climbing wheelchair robot[D]. Qinhuangdao: Yanshan University, 2018.
[21]	于发加. 汽车电动助力转向系统助力特性分析及仿真研究[J]. 汽车实用技术, 2021, 46(15): 121-123.
	YU F J. Analysis and simulation research on assisting characteristics of automobile electric power steering system[J]. Automobile Pract Technol, 2021, 46(15): 121-123.
[22]	GILLESPIE T D. 车辆动力学基础[M]. 赵六奇,金达锋,译. 北京: 清华大学出版社, 2006.
	GILLESPIE T D. The basis of vehicle dynamics[M]. ZHAO L Q, JIN D F, trans. Beijing: Tsinghua University Press, 2006.
[23]	翟洪岩, 孟祥雨. 一种电动轮椅运动学建模分析[J]. 科技视界, 2012(26): 261-269.
	ZHAI H Y, MENG X Y. Kinematics modeling analysis of an electric wheelchair[J]. Sci Technol Vision, 2012(26): 261-269.
[24]	白学森. 基于分层架构的分布式电驱动汽车操纵稳定性控制[J]. 科学技术创新, 2022(23): 169-176.
	BAI X S. Handling stability control of distributed electric drive vehicle based on layered architecture[J]. Sci Technol Innov, 2022(23): 169-176.
[25]	孙鹏. 4WID/S电动汽车线控转向操纵稳定性控制策略研究[D]. 西安: 西安理工大学, 2019.
	SUN P. Research on steering-by-wire steering stability control strategy of 4WID/S electric vehicles[D]. Xi'an: Xi'an University of Technology, 2019.
[26]	王辉. 四轮转向汽车的控制研究和操纵动力学仿真分析[D]. 上海: 上海交通大学, 2007.
	WANG H. Control research and handling dynamics simulation analysis of four-wheel steering vehicles[D]. Shanghai: Shanghai Jiaotong University, 2007.
[27]	谢磊, 杜忠华, 王腾, 等. 6×6轮毂电机全驱装甲车操纵稳定性分析[J]. 科技通报, 2018, 34(11): 237-241.
	XIE L, DU Z H, WANG T, et al. Analysis of handling stability of 6×6 in-wheel motor all-wheel drive armored vehicle[J]. Sci Technol Bull, 2018, 34(11): 237-241.
[28]	邓召文, 余思家, 高亮, 等. 基于虚拟样机的赛车操纵稳定性分析[J]. 机械设计, 2021, 38(9): 87-92.
	DENG Z W, YU S J, GAO L, et al. Analysis of racing car handling stability based on virtual prototype[J]. Mech Design, 2021, 38(9): 87-92.
[29]	VADLAMUDI S, NARESH K D, SHRAVAN K G. Hand Gesture Controlled Robot using Arduino and MPU6050[J]. Int J Recent Technol Eng, 2020, 9(1): 777.
[30]	ZUO Z, LIU C, HAN Q L, et al. Unmanned aerial vehicles: control methods and future challenges[J]. IEEE/CAA J Autom Sinica, 2022(99): 1-14.
[31]	周旭虎, 张华伟. 基于STM32芯片与MPU6050运动传感器对人体姿态检测与跌倒判定的研究与实现[C]. 苏州:中国医学装备大会暨2021医学装备展览会, 2020.
	ZHOU X H, ZHANG H W. Research and implementation of human posture detection and fall determination based on STM32 chip and MPU6050 motion sensor[C]. Suzhou: China Medical Equipment Conference and 2021 Medical Equipment Exhibition, 2020.
[32]	SUGAHARA Y. On the drive system of robots using a differential mechanism[C]. Springer, Cham: IFToMM Asian Conference on Mechanism and Machine Science, 2021: 10-21.
[33]	PATHAN S M K, AHMED W, RANA M M, et al. Wireless head gesture controlled robotic wheel chair for physically disable persons[J]. J Sensor Technol, 2020, 10(4): 47-59. doi: 10.4236/jst.2020.104004
[34]	HABHA L, TRIVEDI U, ALQASEMI R, et al. Autonomous wheelchair indoor-outdoor navigation system through accessible routes[C]. The 14th Pervasive Technologies Related to Assistive Environments Conference, 2021: 199-202.
[35]	LUO W, CAO J, ISHIKAWA K, et al. A human-computer control system based on intelligent recognition of eye movements and its application in wheelchair driving[J]. Multimodal Technol Interac, 2021, 5(9): 50.

基于三自由度模型的电动轮椅操纵稳定性优化与仿真

Optimization and simulation of maneuverability and stability of electric wheelchair based on three degrees of freedom model

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 11

参考文献 35

相关文章 8

Metrics

本文评价

推荐阅读 0

[1]	单新颖, 陈伟, 闫和平. 多姿态电动轮椅控制器的设计和测试[J]. 《中国康复理论与实践》, 2018, 24(5): 604-609.
[2]	贾晓丽;孙江宏;刘相权;王茂. 基于计算机辅助三维交互式应用的肢体康复器械研究[J]. 《中国康复理论与实践》, 2015, 21(09): 1103-1109.
[3]	陈志翔;信琴琴;朱月秀;林姿琼;王琳. 虚拟人舌运动可视化在发声中的研究[J]. 《中国康复理论与实践》, 2013, 19(10): 993-997.
[4]	单新颖. 对电动轮椅车标准相关内容的探讨[J]. 《中国康复理论与实践》, 2013, 19(10): 998-1000.
[5]	简卓;易金花;顾余辉;喻洪流. 索控式三自由度上肢康复训练机器人[J]. 《中国康复理论与实践》, 2013, 19(1): 82-85.
[6]	李继才;官龙;胡鑫;喻洪流. 外骨骼式手功能康复训练器结构设计[J]. 《中国康复理论与实践》, 2013, 19(05): 412-415.
[7]	王建辉;徐秀林. 人体下肢动力学建模与仿真研究现状[J]. 《中国康复理论与实践》, 2012, 18(8): 731-733.
[8]	张永睿;李涤尘;连芩 . 新型颈椎间盘假体的双层结构优化设计 [J]. 《中国康复理论与实践》, 2005, 11(03): 173-174.