Design of Power Wheelchair Controller

摘要

An intelligent power wheelchair motor driver based on Arduino board is proposed in the paper. The system is developed for ensuring safely travel to disabled or elderly people. By using of two ultrasonic and a LIDAR sensor, the system can avoid collisions, including static and moving obstacles. They can be walking people and moving vehicles, as all of them can cause serious harm to people in wheelchairs. The power base contains drive wheels of the wheelchair. For control the wheelchair by the user is used a Standard joystick. The speed of the chair is proportional to the displacement of the control unit, and the wheelchair moves the same direction as the joystick is pointing. In addition proportional control allows moving in any direction within the radius of 360°. The command from the joystick is being sent to the Arduino board where the controller ATMega328p processes the command. After processing the controller send the command in the form of digital signal to the motor driving integrated circuit as it controls the movement of wheelchair. The used brushed DC motors' parameters are 24VDC, 250W which are independently controlled by the joystick.