Integration of Control System Strategy for a Powered Wheelchair Driven by Rim Motors
Date Issued
2016
Date
2016
Author(s)
Tung, Shao-An
Abstract
The main objective of this study was to develop and integrate the control system of rim motor electric wheelchair. In this paper, the design concept of drive system of rim motor electric wheelchair was introduced first, in the system, it integrated rim motor, mechanical brake, motor driver and Li-Fe battery into the power wheel of electric wheelchair, therefore, for general wheelchair rack, only two power wheels need to be installed to become electric wheelchairs, then, through the drive control of square wave and simplified sine wave, the stability and efficiency of the rim motor electric wheelchair was enhanced. The control system of rim motor electric wheelchair can be divided into main control system and assisted control system. The main control system was formed by upper and lower controller of the wheelchair, meanwhile, the upper controller was mainly of human machine interface operation, Bluetooth connection, meanwhile, the differential speed control and speed order of both wheels was put on the lower controller, through humanized human machine interface, the wheelchair user can operate the wheelchair more intuitively; moreover, the lower controller was mainly of motor speed control, electronic brake control and motor drive control to achieve the stable dynamical speed control for the rim motor. The wheelchair assisted system, through Bluetooth, can let rim motor electric wheelchair be connected with smart phone to make short-distance remote control on the wheelchair. On the assisted system, there were two estimated values, one was hand-push count, another was push distance, and these two values were estimated through the sensor on the rim motor wheelchair and the design of algorithm, through the estimated values on the developed assisted system, medical care personnel can understand better the usage situation of the wheelchair user. For the closed loop speed and slow start control strategy proposed in this study, after experimental comparison, it was confirmed that they indeed can enhance the transient response and steady-state response characteristic of wheelchair motor, for the hand-push count and push distance in the assisted control system, through algorithm design and comparison with real values, the error was within 8%, that is, accurate estimated values were achieved.
Subjects
rim motor
electric wheelchair
assisted system
hand-push count
push distance
Bluetooth
Type
thesis
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