Power-assisted cart control method with motor torque limiter based on prediction and its reliability

摘要

In our previous work, we proposed a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs. However, load-reduction ratio was not controlled correctly when there is a large error in prediction. To improve this problem, we propose the method that considers the reliability of prediction. Our proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting operation considering reliability. The results show that the target load-reduction ratio can be obtained with our proposed control method and indicate that the load-reduction ratio is improved by considering reliability of prediction.