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System design consideration for digital wheelchair controller
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DOI：10.1109/41.857970.png)
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摘要
En 中文
The design and implementation of a digital wheelchair controller system is presented in this paper. This novel model depicts an information flow between the driving commands and wheel speed. A command interpreter and two speed processing datapaths are proposed as functionally independent blocks for the controller. The control process consists of the following steps: command decoding, speed estimation, and speed serving. Through proper partitioning to concurrent blocks, the design complexity is reduced significantly. Block reconfiguration for field-programmable gate array rapid prototyping is also employed in this paper, and system fidelity and development efficiency are revealed through the experimental results.
Keyword:
block design
electrical differential gears
field-programmable gate array
proportional integral derivative control
pulsewidth modulation
rapid prototyping
rotary encoders
speed estimators
speed models
voice driven
wheelchair controllers
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期刊
IF:
7.2
论文数:
1.8W
被引数:
9.8W
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