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

Abstract

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

CLC Number:

R496

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.

Figures/Tables 11

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

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

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