Modelling And Simulation On Trajectory Control Of A Powered Wheelchair

With the improvement of human living level and scientific technology level, especially the advancement of biomedicine, the human beings are able to defeat and control a lot of infection sick. This make people's health improve a lot, human life prolong a lot. The world's aging population has intensified. Further more because of the road accidents frequently happen, the number of people who can't walk freely is larger and larger. So the application of the powered wheelchair is much more universal. Now more and more scientists apply moving robot technology to the powered wheelchairs. The smart wheelchair is the main research field in the future. Including, motion controller is the control kernel of the smart wheelchair. The control effect decides its location accuracy and navigation availability.It is a mechanical and electric system for the total system of the powered wheelchair. First, in this paper, every parts of the powered wheelchair system are analyzed. In order to improve the intrinsic system, The author use H-Bridge DC servo driver which is produced by Ingenious Company. It successfully realized the information transmission between PC and H-Bridge DC servo driver. It provides the more compatible control platform for the intelligent developing in the future and hardware support for getting data during modeling.Secondly, the improved powered wheelchair system is modeled. The motion theory is analyzed. The modeling methods are described and proposed in detail. All data collected is analyzed and fitted via the simulation software MATLAB. Because of parameters of motors in wheelchair are different, the modeling in this paper is recognized by many experiments. This method is more authenticity and availability.Because the model is MIMO, decoupling design is a frequently-used method to solve MIMO problem, The author use the decoupling method which use triangularisation technique, transferring MIMO to two SISO and designing the respective controller. The theory of the decoupling design is to make the open-loop transfer function matrix to be the diagonal matrix by unit negative feedback and designing triangular matrix.In this paper, model is talked when the characteristics are changed in case of the disturbances. We use robust control method to design the controller when powered wheelchairs move in complicated conditions.In the end, we use two methods described above to accomplish the simulation of trajectory control. The results prove that robust control method can solve the disturbance problems when the powered wheelchair is moving. It improves the motion performance and accuracy. So it will benefit to handicapped.