Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, and program
A power assist wheelchair includes a wheel, an electric motor that drives the wheel, an encoder that detects rotation of the electric motor, and a control device that controls the electric motor. The control device includes a total torque value calculator that calculates a total torque value based upon only a detection signal of the encoder, an assist torque value calculator that calculates an assist torque value based upon an output current of the electric motor, a manual torque value calculator that calculates a manual torque value based upon a difference obtained by subtracting the assist torque value from the total torque value, and a target current determiner that determines a target current of the electric motor based upon the manual torque value.
1. A power assist wheelchair comprising:
a wheel;
an electric motor that drives the wheel;
an encoder that detects rotation of the electric motor; and
one or more processors to control the electric motor and configured or programmed to function as:
a total torque value calculator configured or programmed to calculate a total torque value based upon a detection signal of the encoder;
a twist torque value calculator configured or programmed to calculate a twist torque value representing torque causing twist of the wheel with respect to an axle;
a manual torque value calculator configured or programmed to calculate a manual torque value based upon a difference obtained by subtracting the twist torque value from the total torque value; and
a target current determiner configured or programmed to determine a target current of the electric motor based upon the manual torque value; wherein
the twist torque value calculator is configured or programmed to calculate the twist torque value based upon a difference obtained by subtracting a torque value calculated based upon the detection signal of the encoder from an assist torque value calculated based upon a current outputted to the electric motor.
2. The power assist wheelchair according to claim 1 , wherein the total torque value calculator calculates the total torque value based upon a difference obtained by subtracting a twist angular velocity value representing an angular velocity of the twist from an angular velocity value calculated based upon the detection signal of the encoder.
3. The power assist wheelchair according to claim 2 , wherein the twist angular velocity value is calculated based upon the twist torque value.
4. A control method for a power assist wheelchair including a wheel, an electric motor that drives the wheel, and an encoder that detects rotation of the electric motor, the method comprising:
calculating a total torque value based upon only a detection signal of the encoder;
calculating an assist torque value based upon a current outputted to the electric motor;
calculating a twist torque value based upon a difference obtained by subtracting a torque value calculated based upon the detection signal of the encoder from the assist torque value calculated based upon the current outputted to the electric motor;
calculating a manual torque value based upon a difference obtained by subtracting a torque value obtained from the twist torque value from a total wheel torque value obtained from the total torque value;
determining a target current of the electric motor based upon the manual torque value; and
controlling the electric motor based upon the target current of the electric motor.