キャパシタ回生制動に基づく電動車椅子の下り傾斜面走行制御法

摘要

This paper describes a novel capacitor regenerative braking control scheme of electric powered wheelchairs for efficient driving on downward slopes. An electric powered wheelchair, which generates the driving force by electric motors, is expected to be widely used as a mobility support system for elderly people and disabled people; however the energy efficiency has to be further improved because it is driven only by battery energy. This study proposes a capacitor regenerative braking circuit and two types of velocity control schemes with variable duty ratio. The proposed regenerative braking circuit is based on the step-up/down circuit with additional resistance and connects right and left motors in series in order to obtain a larger braking power. Some driving experiments on a practical downward slope show the effectiveness of the proposed control system.%本論文では，ジョイスティック型電動車椅子の下り傾斜rn面等における走行制御法の一つとして，キャパシタを用いrnた回生制動回路とブレーキカや速度の調整?制御法を提案rnし，実路面における実験を通してその有効性を確認した。rn今後は前章で述べたようないくつかの課題，さらに多くのrn路面や環境，被験者による評価実験などを交えて手法の検rn討を進める予定である。