Realization of the motion control system and the joystick strategy design for Power Standing Wheelchair

• Main Authors: Chen Chien Hung, 陳建宏
• Other Authors: Ying-Shieh Kung
• Format: Others
• Language: zh-TW
• Published: 101
• Online Access: http://ndltd.ncl.edu.tw/handle/09048308925373021328

碩士 === 南台科技大學 === 電機工程系 === 100 === This thesis presents the controller system of the ESW which is mainly based on the SoPC (System on a Programmable Chip) constructed by FPGA (Field Programmable Gate Array) and one Nios II processor produced by Altera company. The electric wheels are built up by two DC rim motors while the standing frame is composed of a linear motion mechanism and a parallel four-bar linkage mechanism. The joystick strategy system of Power Standing Wheelchair's motion IC has two modules; the first module of an application IP which is utilized to execute the function of PWM (Pulse width modulation) generation, QEP (Quadrature Encoder Pulse) signal detection, fuzzy scheme controller for speed loop, trapezoidal speed command generator. The sencond module programming in C language by Nios II processor which is performmed the function of a novel motion trajectory strategy, the data communication with control panel and generation of differential speed commands. Therefore, the overall digital drive controller of ESW is realized in one FPGA chip. Finally, we build an experimental system including FPGA board, two motor driver boards, a hall sensor joystick, a wireless hall joystick and a DC motor control system to implement the wheelchair movements and observe the control performances to validate the proposed control system for a novel joystick strategy of electric standing wheelchair.