A Smart Wheelchair Supple Control System Based on Hall Rocker

Aiming at the current smart wheelchair that still has room for improvement in terms of supple control and safe driving and needs further optimization to enhance its performance, a supple control system for smart wheelchair based on Hall rocker is proposed. The control system uses a fitted elliptic model to optimize the position data of the Hall rocker to achieve precise control of the smart wheelchair. For different traveling directions and turning situations, different speed processing strategies are used to ensure that the user can reach the maximum speed when traveling straight forward and adjust the speed accordingly to the size of the turning angle. In order to achieve precise motor speed control and maintain its operation in a stable state, a closed-loop control system is adopted. Specifically, an incremental PID (Proportional-Integral-Differential) control algorithm is used to adjust the motor speed in real time. This smart wheelchair safety control system provides an effective solution for the current smart wheelchair in terms of supple control and safe driving, which has potential application prospects.