System design consideration for digital wheelchair controller
Resource
IEEE Transactions on Industrial Electronics 47 (4): 898-907
Journal
IEEE Transactions on Industrial Electronics
Journal Volume
47
Journal Issue
4
Pages
898-907
Date Issued
2000
Date
2000
Author(s)
Abstract
The design and implementation of a digital wheelchair controller system is presented in this paper. This novel model depicts an information flow between the driving commands and wheel speed. A command interpreter and two speed processing datapaths are proposed as functionally independent blocks for the controller. The control process consists of the following steps: command decoding, speed estimation, and speed serving. Through proper partitioning to concurrent blocks, the design complexity is reduced significantly. Block reconfiguration for field-programmable gate array rapid prototyping is also employed in this paper, and system fidelity and development efficiency are revealed through the experimental results.
SDGs
Other Subjects
Command and control systems; Computer simulation; Control system synthesis; Decoding; Field programmable gate arrays; Pulse width modulation; Rapid prototyping; Speed control; Three term control systems; Wheelchairs; Command decoding; Command interpreter; Digital wheelchair controller; Electrical differential gear; Rotary encoders; Speed estimation; Digital control systems
Type
journal article
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Format
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