A Powered wheelchair controller Based on Master-Slave Control Architecture

초록

In this paper, we present the new architecture for develop controller and the algorithm for powered wheelchair that uses BLDC motors. For the pliant and stable traveling of wheelchair, it needs much calculation and signal processing toward the input device and the output devices. The MCU or the DSP has a duty to do that. In this case, it demands much calculation to process the joystick signal, to generate suitable PWM pulse (if it is necessary), and to support diverse functions. If the controller and the two wheels have an own processor chip, it is possible to separate the work for the driving of wheelchair. The wheelchair system, which has a controller as a master and a wheel as a slave, has a protocol. The controller as a master sends speed command to the wheel, and the wheel as a slave sends own wheel information to the controller. This master-slave architecture is for a hardware system to realize high-quality electric wheelchair and offers flexible to expand its functionality. This paper shows the controller that made by suggested hardware architecture, control method, and data processing technique.