FR2628227A1 - CONTROL SYSTEM, ESPECIALLY FOR A WHEELCHAIR - Google Patents

Abstract

Designed in particular for the motor of a wheelchair, the system comprises a control member 1, to introduce a reference quantity 2 into a comparator 13, to which is slaved a regulator 16 which supplies a regulated quantity 10 whose instantaneous value is measured by a sensor 11 which sends this instantaneous value 10 to a second input of comparator 13. A corrector 15 and an adjustment member 5 are normally mounted between the comparator 13 and the regulator 16. A monitoring member 17 is associated with the sensor 11 of instantaneous value and arranged to react in the event of operating anomalies and actuate a selection switch 18 mounted between the corrector 15 and the adjustment member 5. When the control member 1 is thus directly connected to the member adjustment 5, in the event of an operating anomaly detected by the monitoring unit 17, the system switches to a direct-controlled operating mode, the servo-control being at then deleted. Application to control systems, in particular for wheelchairs.

Description

(i) FRENCH REPUBLIC Publication No. 2,628,227 (to be used only

  for INSTITUTE NATIONAL Reproduction Orders)

OF INDUSTRIAL PROPERTY

  L N national registration 89 02220 PARIS

  Q Int C4: G 05 B 1/00, 21/00; A 61 G 5/04.

Q APPLICATION FOR PATENT OF INVENTION A1

  ) Date of filing: 21 February 1989. Q Applicant (s): Company known as: ORTOPEDIA GMBH. -

OF.

  (Priority: DE, 4 March 1988, No. P 38 07 129.0.

) Inventor (s): Hans W. M. Korber.

  (Date of the public availability of the

  application: BOPI "Patents" No. 36 of 8 September 1989.

  _ References to other national documents appearing

: Holder (s)

  (Agent (s) Cabinet Aymard and Coutel.

  (Regulation system, in particular for a wheelchair.

  () Especially intended for the motor of a wheelchair, the system comprises a control member 1, for introducing a reference variable 2 into a comparator 13, to which is enslaved a regulator 16 which provides a controlled quantity whose value instantaneous is measured by a sensor 11

  which sends this instantaneous value 10 to a second input t.

  of the comparator 13. A corrector 15 and an adjusting member are mounted normally between the comparator 13 and the

regulator 16.

  A monitoring member 17 is associated with the sensor 11 of

  instantaneous value and arranged to react in case of anomalies of '-

  I operate and operate a selector switch 18

  mounted between the corrector 15 and the adjusting member 5. When.

  the control member 1 is thus directly connected to the control member 5, in the event of an operating anomaly N detected by the monitoring member 17, the system switches to a directly controlled operating mode, the regulation

  enslavement is then removed.

  Application to servo systems, especially for

wheel chairs.

  The present invention relates to a system for regulating

  particularly for a wheelchair, in which a control member is used to introduce a

  reference variable in a first input of a com-

  paratrooper, the output of which sends a control variable

  to a regulator, through a body of

  and a regulator, this regulator produces

  a regulated quantity which is received by a system of

  measured and introduced into a second input of the comparator.

  Most electrically powered wheelchairs

  currently offered on the market include an electronic control system which is

  the principle of direct control and not regulation.

  The mode of operation of such a device will be explained below.

  electronic system, with reference to Figure 1.

  A user, who is for example the driver

  of a wheelchair, acts by means of a communication organ

  the wheelchair, usually manual, to

  recommend the introduction of a reference quantity 2, such as, for example, the speed at which the chair must move. Through a transmission 3, this reference quantity is sent to a regulator which generates an adjustment variable 6. This regulates the propulsive energy, for example the engine torque which

  activates the wheel-drive wheels of the wheelchair

  re to produce a set quantity 8 of a certain value

  at the outlet of a regulator 7.

  This electronic control system has no automatic feedback function, such as

  ensure at each moment an adjustment of the power

  denies, to adapt it to the necessary power. In other words, the system under consideration makes no comparison between the reference variable 2 and the output quantity

or set 8.

  Therefore, the user is then obliged

  to monitor himself the output quantity that he wishes

  obtain, for example the speed of the wheelchair, to check that this quantity reaches the desired value. To achieve this result, the user is obliged to vary appropriately

  reference quantity 2, in order to maintain as much consistency

  as much as possible the value of the output quantity. However, the flexibility of variation of the reference variable 2 is very often much greater than that of the transmission 3 and of the adjustment member 5,

  so that the user generally does not manage to obtain

  establish an acceptable operating regime for its wheelchair only in a relatively narrow area of performance. Often, the attention of the user is

  sought to the extreme to ensure the necessary variations

  of the reference quantity, or else it is practically

  impossible with such a control system to obtain the desired value of the output quantity,

  in the event of disruptive effects 9 acting on the

7.

  To avoid these difficulties, electric powered wheelchairs have already been equipped with a

  order in which the direct order is replaced by

  by a control command.

  We know that the essential difference that exists

  between a control system and a direct control

  because of the fact that, in a regulation system,

  an electronic device, or a function system -

  according to another physical principle, intervenes

  tomatically to ensure a determined value of the

  output quantity, as described below in

Figure 2.

  Preferably, the system in question produces, by means of a measuring device, a control variable, similar to the output quantity; if the output quantity is, for example, the speed of the wheelchair, a number of revolutions per minute, directly proportional to the speed in question, will be used as adjustment variable. In these conditions, instantaneous value

  12 measured by a sensor 11 is sent to a comparator

  13, to be subtracted from the reference value corresponding to the reference variable 2 introduced by the control member 1. The differential control value 14 is then sent to a corrector 15 which controls the adjustment member 5. The latter doses the power by means of a more or less intense adjustment signal 6, in order to obtain the regulated quantity 10 at the output of a

regulator 16.

  A control circuit constituted as just indicated ensures, without intervention of the user, a value as low as possible of the difference

  Regulation 14 in the event of the appearance of

  9. In other words, the actual instantaneous value 12 is then kept as close as possible to the reference variable 2. It is therefore not necessary to constantly vary this reference quantity.

this 2 under these conditions.

  It is then possible to set a priori rather high flexibility requirements, as regards reference variable 2, without unacceptable inconvenience for the size of the control device. The optimum characteristics of the regulator can then be defined independently

  the flexibility of variation of the reference variable 2.

  The performance of the wheelchair is no longer limited as well as by the data imposed on the director, as

  for example the power available.

  Compared to the electronic control system

  Figure 1, an electronic control system

  of the kind shown in Figure 2 presents an advance

  because the wheelchair remains easy to

  control in the presence of external disturbing effects 9.

  But experience shows that with a regulator

  such as that of Figure 2, in particular

  For the control of a wheelchair, it can be difficult because of the sensor 11 which is used to indicate the instantaneous values of the adjusted quantity by measuring it. In the event of complete failure or abnormal operation of this sensor, the comparator 13 no longer receives a faithful and correct indication of the instantaneous value 12, but an erroneous and misleading indication. And this abnormal situation may immediately cause abnormal reactions, or even completely absurd, the slave motor system, such as an excessive increase in the power supplied. In the event of malfunction and complete failure of the sensor 11, which serves to indicate the instantaneous value, the adjusted quantity thus obtained becomes impossible.

  to be piloted, and the situation thus provoked by the

  unforeseen occurrence of these erroneous regulation signals

  then comes much more delicate for the driver. In

  In this case, it can practically

  machine by completely turning off the regula-

electronic transmitter.

  That's why today's electronic regulators

  include supervisory bodies which serve to verify

  the indications provided by the value sensor

  tantant, by relating them to plausibility criteria.

  In the event of an abnormal indication thus recognized, the regulator

  electronics is blocked. But this amounts to preventing

  the occupant of a wheelchair to pilot his own

  using the electronic control system.

  And then it takes the help of another person, to push the wheelchair whose occupant participates

  then most often to the operation.

  The object of the present invention is to provide a control system of the kind considered which makes it possible

  even in the event of more or less complete failure of

  instantaneous value, a relatively

fortable wheelchair.

  According to the invention, this result is obtained with a control system comprising a control member

  to introduce a reference quantity into a first

  first input of a comparator, the output of which transmits

  a regulating variable to a regulator, via

  a corrector and a regulator; the regulator producing a set variable whose instantaneous value is measured by a sensor which introduces this

  instantaneous value in a second entry of the comparator

  characterized in that it comprises: a surrogate organ

  monitoring that is connected to the instantaneous value sensor;

  and a selector switch, mounted as a result of

  rector, the input of this selection switch

  be connected either to the output of the corrector or

  at the output of the control device, and the output

  of the selector switch being connected to the

  tor; and in that the monitoring member is arranged

  to react in the presence of malfunctions of de-

  completed, to report these anomalies and / or to

  select switch according to these anomalies.

  lees. In the event of abnormal operation of the measuring device constituting the instantaneous value sensor, the regulation system proposed by the invention does not allow

  not to maintain the specially adapted driving mode

  table, normally obtained with the electronic regulator, at least when you can still move the chair

  using external auxiliary energy.

  If someone accompanies the wheelchair, then

  the intervention of this person to be able to

correctly seat the chair.

  But, for the user, such a situation is still much better than a complete immobilization

  of the wheelchair. And such an advantage is due, by

  the fact that the electronic system is

  then brought from one mode by regulation to a mode by com-

direct command.

  An embodiment of the invention will now be described, given by way of example, with reference to the principles of the application of the invention. It is also indicated in the following text: , nb Tli sqaeluoa ï anasiaauT an aasTITln Inad uo 8L uoTlaajo s ap anaqelnwuoa al aaseTTeag fnod uoTewm irjuoo ap elAnaouem aun no Teu6is a sdad, nb alemiou uoTITsod al3aa aipuaidat siole thatA -nod au-analelnwuoa ael naldeo np aTlemoue, T ap uoTl; red -sTp and sip uoTIeTn65a ap uoTITsod ua awawa-Tnl ap ïuaaa ap jaq4adwa, the anod 'anbTlemolne a6ellTnociaA a uTosaq ne oaalodwoa Tssne 3nad 8L anaelnwwmoo al sieWccee [69a apaleeo, apaal; ua, eq '1 anaoaaaaoa jTlTsodsTp np eli-os el neaA çZ -nou q jalaia q a3aiuew ap' û 6Tj el ans ag; uasaidai uori -Tsod es i; ua.anbTlewolne elderAai Inad 8t anaqelnwwoa ai ae6Titoa 9a3 e LL analdea np Temara, the anbsaol 'uawal -aaaip TsuTe aonbTldde Isa zaaugaa ap apaapaea6 tihee tbe tbee t69a apeeffo, i ap aga ua, lq T apewmoa ap oz aue6ao, 1 ap alalos el uawalaaiTp sioTe alla' lL apuel -uelsu inaleA ap analdea np quawauuoTlauoj ap aTlewoue, p sea ua 'Ta-Tnla3' SL uoTlaaTas ap analelnwwoo a jauuoTI -ae no / qa aTlemoue, [3aaeu6is siole 3nad aaueiTTTains ap ae6o, 1 saaue; uelsuT sinaTeA sat ITuinoj Tnb LL ana; 51 - dea np luawauuoTaouoj ap arlemoue, p sea uaififegi anod nAaid 'll aveTaAans ap ale6 oa ae3odmoa ú (6ij and ap awagsAs al aalno u3' squepuodsaiaoa saue6fo sael au6 -rsap anod Z la L -s lj sal suepan sanbiamwnu saouau3aja sawaw sal 9STITTn e uo '6 -6j el ap emwaqas al suea OL UOT; UaAuT (q aiwiojuoa uoTIeî -n6pi ap awQlsAs np lauuoTlauoj ewqas a; its º 6T la! -naGT19ue; ae, T uolas -uelnoi TTnalnej a, p uolTein6i9 ap awaqsAs al 9nb -TTdxa anod 9STI Tn IauuoTIauoj ewaqas a sa z '6TJ S anaGTalue; s, T Uolas; uel -noi Tlna; nej a, pa; aaiTp apuemwwoa ap awaqsAs ai aanb -Tldxa anod pisTlTn TaUUOTaOUOJ ewa4s an Isa L -6J: saTanbsael suep 'saaxauue sainl j 9. sanbTlenaud no / ja sanbTueapu' sanbTpTnlj sJITlsodsTp sap q aldwaxa jed issne srea 'anbTilaoal jTTrsodsTp a quamanas uou sinoiai JToA lnad uo' uoTluaAur, [q amiojuoa atamisXs an inod aino iasltega u3 quanuuoTl3uoj ap uoTI -etn ga ap aaqls to a lista. Tew 'luetnoi ITnalnej an ins quaumanas alqesTITln sed Isasu uoT; uaAuTl Z -aoaIap apueuuoo ua iauuor; auoj jrop ailne, 1 anb siole alemiou uoletni6gi ua auuonTouoJ goa a' 'aqane6 q aloopo uoTsIndoid ap sinalow xnap sael ns aenui. med sino; ap amquou ame al quamalaexa mrualqo q aigTueu ap 6aJmqsAs xnap xne aauaijgaJ ep sinapuem6 sap quau. edgs oz Tumnoj ap aeTaTjTJtJp sqal sa Is t 'ajja u3 -aqane6f laa loap q' sanbruoJlaat sanqIsas xnap sal suep aaaelip apue. * oa med a eohrd ap apoe no qua. anbrle.olne assed uo saTlIos xnap sap aunt ap aaueluelsuT jnaleA ap inaldea np a3ueTTej9p ap sea ua, nb iToAgmd lneJ rT 'UOTIDaGlp ua [apuewuoa el jainsse inod' eaqane alga np the ITOJp g3ga np quaSATI3aadsai quessi6e 'uoisTndomd ap saTlios xnap ap uoTelolo ap save your salaUy aouajjjTp el asTTIn uo.nb -siot maitnaTrled ua 'uoTstndoid ap saelios sinaisnld aliod -uoa rnb whelch Tnalnej a.nb Tal aTnaTqLA an ins oL the 6TJ and ap emaqas do noouigggg a ua ti ng tHe ITapp anb Tal' alaamTp apueauoa q anbTuol; aat9 aceelonatd apaaoqsAs a, p ajooua quesodsTp quetnoi [Tna3nej the ZL which dida ina [sA elap saquoIla suoTIeOTpUT sap TSUTeUT UO L i na3oaiOa al the úL inalemedaoa to lualTnoaiTa-lnoa ua 'ç acee669j apo aue6eo q luemalaalTp Z aoua6jj ap Znapuei6 el meAoAua Inad uo 'saguelueîsuT sana [eA sa -tuinoj Tnb LL inaldea np luamauuoTlauoj ap aGemoue1p sea uanb jTej ne au le LIzez 8

Claims (3)

  1. Control system, in particular for a wheelchair, comprising a control member (1) for introducing a reference variable (2) into a first input of a comparator (13), the output of which transmits a control variable (6) a regulator (16), via a corrector (15) and an adjusting member (5); the regulator (16) producing a controlled variable (10) whose instantaneous value is measured by a sensor (11) which inputs this instantaneous value into a second input of the comparator (13), characterized in   what it comprises: a supervisory organ (17) that is.   connected to the instantaneous value sensor (11); and a switch   selector switch (18), mounted after the corrector (15), the input of this selector switch being   connected either to the output of the corrector (15) or directly   at the output of the control member (1), and the output of the selection switch (18) being connected to the regulator (16); and in that the monitoring member (17) is arranged   to react in the presence of malfunctions of de-   completed, to report these anomalies and / or to   select switch (18) according to these   malies. Regulating system according to Claim 1, characterized in that the selector switch (18)   is an analog inverter arranged to automatically resume   its original position and connect the corrector (15) to the adjusting member (5) after the disappearance of an anomaly Operating.   3. Control system according to one of the   cations 1 and 2, characterized in that the   selection (18) comprises an automatic locking,   switch (18) to wait for a signal or a   confirmation before being able to resume   normal position, to connect the corrector (15) to the orga- no adjustment (5).   a-3aaTp apueUoa q luaemauuoia -3uoJ ap amT6Bg ie a Jed uoîeTn6ga iAiesse luamauuoilauoJ OL ap amT69j unp luaeaule3uaep samqsAs sael SNOL aruaAe aeTej inod 'luaoaulezlue, p saeaqsAs xnep aouaaJgjd ap ael -jodmoa lueinoi Tnalnej al' saoilou sanoni sap quamaujoJ -uaep.sauqIsAs sap unl SUTOU nep (LL) ainsam ap inaldea np anuuoaSJ aTeRbouNt, p sse a suep 'anb ao ua as -TJ93eBJ83e' 1 UOT3eaTpuaAaJ ei uo [as uoTeaOTIddv -c   -Unnoi rInalnej a, p saaTIlou sanoi sap aunaequa p qua.   -epuad9puT apuemoo e81 q ç 'q L suorTeaTpua ^ aa sap aun, [   uoas UOTleIBln6ai ap augsAs np uoT3eaTIddv - T-C V 6! .. F ,, J-. F. jt