학술논문
Development of Electric Tiller with Active Operation-Assist-Control / アクティブな操作アシスト制御を行う手押し式電動耕耘機の開発
Document Type
Journal Article
Author
Source
Proceedings of the Japan Joint Automatic Control Conference. 2016, :948
Subject
Language
Japanese
Abstract
It is considered to be easy to operate the electric tiller by controlling the velocity and torque of the driving wheels. The purpose of this study is to develop an electric tiller to perform operation-assist-control to the operator. By controlling the driving wheels considering the slip ratio from the relationship between the driving wheel velocity and the vehicle velocity, the electric tiller to straight driven. The velocity data is used in order to control the electric tiller are estimated from acceleration data and position data. Moreover, performing the intention estimation of the operator using the value of the force sensor attached to a handle. The usefulness of proposed control method is confirmed by simulation results.