Electric wheelchair control system based on fuzzy PID control

A technology for electric wheelchairs and control systems, applied to general control systems, control/regulation systems, and control of multiple DC motors, etc., can solve problems such as overshooting of starting and braking, poor anti-load disturbance ability, etc., and achieve regulation Smooth speed, good load disturbance resistance and good robustness

Inactive Publication Date: 2017-12-15
国家康复辅具研究中心
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the speed control system of an electric wheelchair driven by a DC motor, due to the uncertainty of the environment and road conditions, the conventional PID control often cannot meet the above five control requirements at the same time, and there are overshoots in starting and braking, and the ability to resist load disturbances Poor and other issues

Method used

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  • Electric wheelchair control system based on fuzzy PID control
  • Electric wheelchair control system based on fuzzy PID control
  • Electric wheelchair control system based on fuzzy PID control

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Embodiment Construction

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0033] Such as figure 1 As shown, an electric wheelchair based on fuzzy PID control includes an electric wheelchair body, which is characterized in that it also includes an environment sensing system, a control system, a driving system, an actuator, and a feedback system arranged on the electric wheelchair body;

[0034] The environment perception system includes a joystick handheld operator, a 3D acceleration sensor for road condition detection, and an obstacle avoidance module. The environment perception method helps the electric wheelchair to better recognize the current road condition and establish a posture prediction model for the electric wheelchair. Implement a predictive model to ensure user safety.

[0035] The actuator includes two DC motors and an electr...

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Abstract

The invention discloses an electric wheelchair control system based on fuzzy PID control. Aiming at problems that different road conditions and uphill and downhill environments cause the jolting, instability, unsafety and discomfort of an electric wheelchair, the system meets the requirements of the disabled on wheelchairs for safety, comfortableness and operability. The system is characterized in that the system comprises an environment sensing system, a main control system, a drive system, an actuator, and a feedback system; and the system employs the electric wheelchair control system based on fuzzy PID control. The main control system designs a fuzzy PID control system according to the rotating speed deviation, fed back by the feedback system and a calculated deviation change rate, adjusts a self-setting fuzzy control strategy of three parameters of PID, and achieves the better control of an output speed. The system is good in robustness, is small in overshoot, is smooth in speed regulation, is good in resistance to load disturbance, and meets the control requirements of the electric wheelchair under different road conditions.

Description

Technical field [0001] The invention relates to the field of rehabilitation aids, in particular to an electric wheelchair based on fuzzy PID control. Background technique [0002] my country has entered an aging society, and the aging population is accelerating. In addition, patients with lower extremity dyskinesia caused by diseases and disasters are also increasing significantly. The above-mentioned people have their daily travel activities due to the limitation of lower extremity mobility. influences. The elderly and disabled electric wheelchairs provide convenience for the elderly and the disabled. [0003] As the main users of electric wheelchairs are the elderly and disabled people with limited mobility, it is different from the general DC motor control system, and its control requirements have their particularities, as follows: [0004] (1) The electric wheelchair is a non-linear, multi-variable and time-varying system when it encounters uneven roads and when facing various e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05B13/02G05B11/42H02P5/68H02P7/03
CPCG05B11/42G05B13/0275G05B13/042H02P5/68H02P7/04
Inventor 单新颖樊瑜波闫和平陈伟杨荣潘国新马岩
Owner 国家康复辅具研究中心
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