The torque distribution algorithm of driving wheels using 2D joystick in the electric wheel-chair

2D 조이스틱에 기반한 전동휠체어의 토크 분배 알고리즘

This paper proposes the algorithm of torque distribution in the electric wheel-chair using 2D joystick for drive safety. For the accurate driving performance, the specific and precise torque distribution is required in both wheels depending on signals of X-Y axis that is generated from 2D joystick. The signals of X-Y axis from joystick are transformed into the propulsion force and the torque reference. And the torque reference can be generated through the dynamic model of wheel-chair. The optimal dynamic characteristics of the electric powered wheelchair can be obtained, by adjusting the sensitivity coefficients of propulsion force and torque reference, In addition, the system takes smooth and stable control characteristics due to continuous torque output at all directions of joystick. The several simulations verify the usefulness of the proposed algorithm about torque distribution.