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Lamass, a Large-Motion Active Suspension System for Powered Wheelchairs

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Lamass, a Large-Motion Active Suspension System for Powered Wheelchairs LAMASS: A LARGE-MOTION ACTIVE SUSPENSION SYSTEM FOR POWERED WHEELCHAIRS William W. Li B.A.Sc., Simon Fraser University, 1993 THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF APPLIED SCIENCES in the School of Engineering Science 0William W. Li 1997 SIMON FRASER UNIVERSITY December 1997 All rights reserved. This work may not be reproduced in whole or in part, by photocopy or other means, without permission of the author. National Library ' BlblioWque nationale of Canada du Canada d Acquisitions and Acquisitions et Bibliographic Services services bibliographiques 395 Wellington Street 395,rue Wellington ' Ottawa ON K 1 A ON4 OnawaON KIA ON4 CaMda. Canada The author has granted a non- L'auteur a accorde une licence non exclusive licence allowing the exclusive pennettant a la National Library of Canada to Bibliotheque nationale du Canada de reproduce, loan, distribute or sell reproduire, przter, distribuer ou copies of th~sthesis in microform, vendre des copies de cette thesesous paper or electronic formats. la forme de microfiche/film, de reproduction sur papier ou sur format electronique. The author retaus ownership -of the L'auteur conserve la proprietk du . copyright in hsthe& Neither the droit d'auteur qui protege cette these. thesis nor substantial extracts from it Ni la these ni des extraits substantiels may be printed or otherwise de celle-ci ne doivent Stre imprimes reproduced without the author's ou autrement reproduits sans son autorisation. Approval Name: William W. Li Degree: ~.A.sc. Title of thesis: LAMASS: A Large-Motion Active Suspension System for Po~,eredWheelchairs Examining Committee: Chair: Dr. William A. Gru\.er Professor School of Engineering Science Senior Supen,isor: Dr. Shahram Payandeh .4ssociate Professor School of Engineering Science Dr. Andrew H. Rawicz Professor School of Engineering Science Dr. John Jones Associate Professor School of Engineering Science Simon Fraser I'ni\,ersit> Date .\ppro\.ed: December 11 , 1997 ABSTRACT The design of a large-motion active suspension system for powered wheelchairs is described and discussed. A common problem with powered wheelchairs is their inability to navigate steep or rough terrain. As the seat support is typically rigidly fixed to the chassis, travelling along or across a slope can result in the wheelchair's user sliding uncomfortably from side to side. In more extreme cases, it is possible to lose control of the wheelchair as the center of gravity of the combined user and wheelchair system tilts out beyond the footprint formed by the wheels contacting with the ground. By moving the seat and user, which typically comprise half of the mass of the wheelchair, relative to the wheelchair chassis, it is possible to maintain equivalent stability with a smaller footprint or enhanced stability for a given chassis as the wheelchair tilts according to the terrain it moves across. Any device which accomplishes this type of motion, though, must satisfy strict constraints with regards to safety, reliability, production cost, power consumption, and size. One important constraint is the need to devise the mechanism such that it fits within the space already beneath the wheelchair's seat without adding bulk. One solution is to use a self-levelling type of active suspension to provide the motion. A proof-of-concept of the Large Motion Active Suspension System (LaMASS) has been built to test out this idea. LaMASS moves a scale model of a human user according to input from inertial sensors mounted on the wheelchair chassis, attempting to keep the user level regardless of the external acceleration input. A design technique to satisfy the design constraints is discussed, and the results of the LaMASS controller are analyzed. Dedication This thesis is dedicated to the memory of Dr. Tom Richardson, whose example inspired me to learn more, whose support brought out my best, and whose lessons will guide me for the rest of my life. Acknowledgements I would like to thank the guidance, support, and encouragement of my supervisor, Dr. Payandeh, without whom this work would not have been completed. I would also like to thank Simon Fraser University for providing the fwnding which made the construction of the proof-of-concept for the LaMASS system possible, through the Prototype Development Fund and the Wighton Endowment Fund. The wheelchair platform was kindly donated by Dr. Andrew Rawicz. As well, Dick and the rest of the guys in the Science Shop have always been helpfwl to me whenever I needed anything quickly. I would also like to thank Harry Boehm for helping me through the inevitable experimental blowups. Bolko Rawicz and Greg Hall also deserve a vote of thanks for working with me in the early stages of this project. Last, but not least, I want to thank my lovely significant other Jennifer for always believing in me. Table of Contents .. Approval ......................................................................................... 11 ... ABSTRACT ................................................................................... 111 Dedication ...................................................................................... iv Acknowledgements ........................................................................ v List of Tables .................................................................................. x List of Figures ................................................................................ xi Foreword ...................................................................................... xiv Chapter 1 Introduction .................................................................. 1 1.1 MOTIVATION............................................................................................................ 2 Chapter 2 Background ................................................................ 13 2.1 WHEELCHAIRMECHANICS: TERMS AND CONCEPTS........................................ 13 2.1.1 Wheelchair Footprint .................................................................................... 15 2.1.2 Co-ordinate Systems .....................................................................................16 2.1.3 Types of Powered Wheelchairs..................................................................... 17 2.4.1 Passive Suspension .......................................................................................24 1 I 2.4.2 Active Suspension .......................................................................................... 25 2.4.3 Semi-Active Suspension ................................................................................30 2.4.4 Self-Levelling Systems ...................................................................................30 Chapter 3 Theory and Modelling ............................................... 31 3.1 MODELLING........................................................................................................... 31 3.2.1 Static Tipping Criterion ................................................................................37 3.2.2 Relationship Between System Centre of Gravity and Tipping Stability ........ 38 3.2.3 Formulation of Dynamic Tipping Stability ...................................................39 3.2.4 Threshold Unrecoverable Tipping Speed .....................................................40 3.2.5 Maximum Tip Criterion ................................................................................43 3.2.6 Effect of Active Control on Stability .............................................................45 Chapter 4 Mechanical Design ..................................................... 50 4.1 PROBLEMDEFINITION ............................................................................................ 50 Chapter 5 Implementation .......................................................... 75 5.1 SYSTEMOVERVIEW ............................................................................................... 75 I 5.2.1 Power Supply ................................................................................................80 5.2.2 Inertial Sensor Platform ...............................................................................81 I i vii 5.2.3 Data Acquisition Board ................................................................................83 5.2.4 Supervisory Controller.................................................................................. 84 5.2.5 Motor Control Board ....................................................................................85 5.2.6 Motor and Motor Position Board ................................................................. 87 5.3 CLOSED-LOOPMOTOR CONTROL .......................................................................... 89 ' 5.4 SUPERVISORYCONTROL ........................................................................................ 91 Chapter 6 Results ......................................................................... 95 6.1 MOTORCONTROLLER CHARACTERIZATION ........................................................... 95 6.2 ACCELEROMETERCONTROL ................................................................................ 100 6.3 GYROSCOPECONTROL ......................................................................................... 102 6.4 TILTSENSOR CONTROL ........................................................................................ 106 6.5 COMBINEDSENSOR CONTROL ............................................................................. 108 6.6 SUMMARY...........................................................................................................
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