The development and application of an electrical wheelchair with multiple-control (II)
Date Issued
2005-07-31
Date
2005-07-31
Author(s)
賴金鑫
DOI
932213E002106
Abstract
The purpose of this study is to develop a safety
feedback control system of a power wheelchair for
the improvement of self-reliance in personal
ambulation and the reduction of system errors due to
operational faults. The core processor is a Texas
Instrument TMS320LF2407A DSP (digital signal
processor). The DSP reads the signal received from
the joystick and carries out computations for the
control of driving motors, both in direction and
speed. An ultrasound module is used for the
detection of obstacles in the rear side for safety.
Optical encoders generate feedback signals in order
to compensate the speed of the two motors by a PD
control algorithm, which makes the speed of the
power wheelchair independent of the weight load.
This system is designed according to M3S (Multiple
Master Multiple Slave) standards for a
straightforward integration of additional modules
and better expansion of a power wheelchair system.
Subjects
Powered Wheelchair, M3S
Publisher
臺北市：國立臺灣大學醫學院復健科
Type
other
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