Bir Otonom Elektrikli Tekerlekli Sandalyenin Yörünge Kontrolünde Hesaplamalı Tork Kontrol ve PID Kontrol Yöntemlerinin Karşılaştırılması

Bu çalışmada bir otonom elektrikli tekerlekli sandalyenin (OETS) analizi, tasarımı ve gerçek zamanlı yörünge takip kontrolü gerçekleştirilmiştir. Öncelikle tasarlanan OETS’ nin kinematik analizi yapılmış ve ardından sistemin tam dinamik modeli Lagrangian tekniğinden yararlanılarak elde edilmiştir. Sistemin gerçek zamanlı yörünge izleme performansını artırabilmek için, bu çalışmada farklı kontrol yöntemlerinden yararlanılmıştır. İlk olarak sistemin yörünge izleme kontrolü PID kontrolü üzerinden gerçekleştirilmiştir. Ardından, sistemin yörünge izleme performansını artırabilmek için OETS’ nin tam dinamik modelinin göz önüne alındığı Model Tabanlı Hesaplamalı Tork Kontrol yönteminden yararlanılmıştır. Yapılan gerçek zamanlı yörünge izleme performans deneylerinden elde edilen sonuçlara göre, sistem için yapılan matematiksel analizlerin doğru olduğu kanıtlanmış ve özellikle hesaplamalı tork yönteminin kullanılması ile sistemin yörünge takip kontrolü güçlendirilmiştir.

Anahtar Kelimeler:

Otonom Araçlar, Tork Kontrol, PID Kontrol, Yörünge Kontrol

A Comparative Study of Trajectory Tracking Control for an Autonomous Electric Wheelchair Based on Computed Torque Control and PID Control

In this study, design, analysis and real time trajectory tracking control of an autonomous electric wheelchair (AEWC) has been performed. Firstly, the kinematic analysis of the designed AEWC has been made and then dynamic analysis ofthe system have been obtained by using the Lagrangian method. Different control methods have been used in this study to improve the system's real-time trajectory tracking performance. Firstly, the trajectory tracking control of the system is performed by using PID control. Then, the model-based computed torque control method that takes into account the full dynamic model of the AEWC has been used in order to improve the trajectory tracking performance of the designed system. According to the results obtained from the real-time trajectory tracking experiments, the mathematical analysis made for the system proved to be correct and especially the trajectory tracking control of the system has become more robust by using the computed torque method.

PDF

___

Baruh, H. 1998. Analytical Dynamics 2nd ed., Mc Graw-Hill International Editions Series, New York, 260-350.
Boquete, L., García, R., Barea R., Mazo, M. 1999. Neural Control of the Movements of a Wheelchair. Journal of Intelligent and Robotic Systems, 25(3), 213-226.
Crespo, M.S. 2003. Intermediate Dynamics, Complemented with Simulation and Animations, Mc Graw-Hill International Editions Series, New York, 584.
Cruz, C.D., Bastos L.T.F., Carelli, R. 2011. Adaptive motion control law of a robotic wheelchair. Control Engineering Practice, (19), 113-125. Ding D., Cooper, R.A. 2005. Electric powered wheelchairs. IEEE Control Systems, 25(2), 22-34.
Fujii F., Wada, K. 2005. Analysis on the manual control characteristics of the human pilot during the operation of the powered wheelchair, Advanced Robotics, 19(2), 121-139.
Greenwood, D.T. 1987. Principles of Dynamics (2nd Edition). Prentice Hall, USA 552.
Johnson, B.W., Aylor, J.H. 1986. Reliability&Safety Analysis of a Fault-Tolerant Controller. IEEE Transactions on Reliability, 35(4), 355-362.
Kung, Y.S., Huang, P.H., Su, F.C., Chen, T.S. 2011. Realization of an FPGA-based Motion control system for electric standing wheelchairs. IEEE Symposium on Industrial Electronics and Applications, Langkawi, 47-52.
Lewis, F.L., Abdallah, C., Dawson D.M. 1993. Control of Robot Manipulators, Maxwell Macmillan Publishing Company, Oxford 424.
Nguyen, T.N., Su, S.W., Nguyen, H.T. 2011. Robust Neuro-Sliding Mode Multivariable Control Strategy for Powered Wheelchairs, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(1), 105-111.
Pasin, F. 1994. Mekanik Sistemler Dinamiği, İTU Rektörlüğü, Türkiye, 1540.
Peng, W., Lin, Z., Su, J. 2009. Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques. IET Control Theory & Applications, 3(6), 701-711.
Saadatzi, M.N., Poshtan, J., Saadatzi, M.H. 2011. Optimal multivariable two-degree-of-freedom control of electric wheelchair using non-dominated sorting genetic algorithm-II. IEEE International Conference on Control Applications (CCA), Denver Colorado, 376-381.
Sangdani, M.H., Tavakolpour-Saleh, A., Lotfavar, R.A. 2018. Genetic algorithm-based optimal computed torque control of a vision-based tracker robot: Simulation and experiment. Engineering Applications of Artificial Intelligence, (67), 24-38.
Shung, J.B., Tomizuka, M.M., Auslander, D.M., Stout, G.G. 1983. Feedback Control and Simulation of a Wheelchair. ASME. Journal of Dynamic Systems, Measurement and Control, 105(2), 96-100.
Yang, Y.L. Chao, P.C.P., Sung, C.K. 2009. Landing Posture Control for a Generalized Twin-Body System Using Methods of Input–Output Linearization and Computed Torque. IEEE/ASME Transactions on Mechatronics, 14(3), 326-336.