Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
MODELLING AND CONTROLLING OF AN ELECTRIC POWERED WHEELCHAIR USING THE CONTROL LYAPUNOV FUNCTION
Submission Author:
André Jorge , SP
Co-Authors:
André Jorge, Luis Alberto Riascos
Presenter: André Jorge
doi://10.26678/ABCM.COBEM2017.COB17-2701
Abstract
There are several research about adaptabilities in wheelchairs moving through urban spaces considering obstacles, allowing disabled people to live and interact with society. It estimated that 110 milion people of the world’s population have got significant difficulties in functioning. Demanding the development of better handicap equipments, this paper presents a method to control an Electric Powered Wheelchair (EPW), applying a safe driving closed loop modelling, which controls the torque of the electric motors. Firstly, a reliable mathematical model for an EPW, divided in kinematic and dynamic models, will be presented, through the use of the Lagrangian formalism. Second, knowing the propulsion and rotation velocities, the control of the torque applied on the drive wheels was proposed, since the torque gives smooth and precise driving on the ground. Then, the control Lyapunov function (CLF) technique is presented to obtain a control law for controlling the angular velocity of the drive wheels, and consequently, it will control the EPW motion on a flat or inclined surface, as desired by the user. The EPW model was implemented in MATLAB/Simulink, where a graphical user interface (GUI) was developed to facilitate the simulations. The modelling and controlling will be discussed and graphical results will be presented, showing the CLF technique converges for the desired result.
Keywords
System modelling, motion control, Eletric Powered Wheelchair (EPW), motor control, Torque, linear and angular velocities, control Lyapunov function (CLF)
