System design consideration for digital wheelchair controller

Author

Chen, Ruei-Xi ; Chen, Liang-Gee ; Chen, Lilin

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

47

Issue

4

fYear

2000

fDate

8/1/2000 12:00:00 AM

Firstpage

898

Lastpage

907

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

Keywords

control system synthesis; digital control; electric vehicles; field programmable gate arrays; handicapped aids; machine control; parameter estimation; three-term control; velocity control; FPGA block reconfiguration; PID control; PWM; command decoding; command interpreter; concurrent blocks partitioning; control process; design complexity reduction; digital wheelchair controller; driving commands; electric wheelchair; electrical differential gears; field-programmable gate array rapid prototyping; information flow; rotary encoders; speed estimation; speed serving; two speed processing datapaths; voice driven; wheel speed; Control systems; Digital control; Field programmable gate arrays; PD control; Pi control; Process control; Proportional control; Prototypes; Wheelchairs; Wheels;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.857970

Filename

857970