Control Parts Design Of Omnidirectional Motor-wheelchair

With the more and more severe influence of aging of population and improving of living standard, aged-elder as well as handicapped will cry for aid walk instruments. But the present motor-wheelchairs usually are adopted the structure that passive wheel is in the front of driving wheel .The main limitation of this kind of motor-wheelchair is that turning radius is very big, for example the basic redressal to both sides can round very big distance, which is quite difficult for the disable people in narrowness space, however, for the walk-handicap aged-elder, going-out is only a very small part, the more important things are eating, washing, working and so on. So developing a kind of wheel-chairs that can suit not only open place but also narrow space and indoor room will have a bright future.This paper presents a kind of novel motor-wheelchair with omnidirectional motion function. Its basic structure is as following: which adopts six-wheel frame, there is four passive wheels below the brim of the frame and two driving wheels that can revolve freely around axes in the middle of it. Rotor can be controlled by electromagnetism clutch. The wheelchair can be actually divided into two parts by this means, this frame is possible for omnidirectional movement in condition of no gyrus radius. Two driving wheels are drived respectively by two direct current servo electromotor with retarder, omnidirectional movement depends on the differential rotate speed of electromotor.In the paper the whole omnidirectional motion scheme of the wheelchair is designed, its corresponding math-model is also established. Many parts of servo system are selected in the paper. Their basic working principle and initialization of servo system's drivers are also illustrated. As far as the realization of control system is concerned, the paper designs an available SCM system, works out initialization programme of some main components and the whole frames. For the basic factor, line and omnidirection motion, these control projects are put forward solely. The simulation results are demonstrated.The validity of control method presented in the paper is verified by simulation and analyze.The process of founding the scheme of omnidirectional motion need improve again and again, especially the differentia of the driving wheels need be tested and built times without number. The final aim is making it work rapidly as well as placidly. Otherwise in the future research if this kind of wheelchair which is similar to travel-robot is given much more sensors to ameliorate their capability of avoiding barrier and orientation, which will provide a large possibility to intellectualized wheelchair.