An electronic differential control of wheelchair based on PID control

Abstract

In this paper, the electronic differential control system of the electric wheelchair is proposed to achieve the steady motion. The system is designed based on actual wheelchair model. In addition, the stability of the electronic dif-ferential control system is analyzed and calculated. The anti-roll analysis is car-ried out for the electric wheelchair based on ZMP. Therefore, the electric wheel-chair can adapt to different pavement and different motion states by controlling the slip rate. Finally, the speed output and stability of the electric wheelchair dif-ferential system are simulated by ADAMS and MATLAB. The availability and effectiveness of the electronic differential system are verified. The stability of the electric wheelchair in operation is tracked, according to the feedback output of ADAMS. Thus, the limit of the speed and rotation angle of the electric wheelchair is obtained, which serves as a reference for the control of the electric wheelchair.