PID Control of Elderly Assistant and Walking Assistant Robot

被引：0

作者：

Osivue, Odekhe Randolph ^{[1
]}

Zhang, Xiaodong ^{[1
,2
]}

Mu, Xiaoqi ^{[1
]}

Kadry, Hamza Khaled ^{[1
]}

机构：

[1] Xi An Jiao Tong Univ, Sch Mech Engn, Xian 710049, Peoples R China

[2] Xi An Jiao Tong Univ, Key Lab, Educ Minist Modern Design & Rotor Bearing Syst, Xian 710049, Peoples R China

来源：

PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON APPLIED MATHEMATICS, MODELING AND SIMULATION (AMMS 2017) | 2017年 / 153卷

关键词：

BLDC motor; PID controller; tactile slip sensor; elderly-assistant walking-assistant robot;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a PID controller is applied to control the speed and direction of an elderly-assistant and walking-assistant robot (EWR) by controlling the speed and direction of two 12V brushless DC (BLDC) motor driving two front hub wheel of the EWR. C code for the PID controller run on ATMega16 microcontroller. The parameter of a standard PID controller for the BLDC motor speed and direction control system under the investigation is tuned and fixed throughout the control. The result of the experiment on the real plant demonstrates that the PID controller is a good choice to suppress the oscillation due to the systems and sensors nonlinearity.

引用

页码：419 / 424

页数：6

共 50 条

[1] An Approach for Fuzzy Control of Elderly-assistant & Walking-assistant Robot
Han, Huanjie
Zhang, Xiaodong
Mu, Xiaoqi
[J]. 2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2017, : 263 - 267
[2] Development of the Walking Assistant Robot for the Elderly
Shim, Hyeon Min
Ryu, Je Goon
Kwon, Oh Sang
Lee, Eung Hyuk
Min, Hong Ki
Hong, Seung Hong
[J]. WORLD CONGRESS ON MEDICAL PHYSICS AND BIOMEDICAL ENGINEERING 2006, VOL 14, PTS 1-6, 2007, 14 : 3003 - +
[3] The Development of Walking Assistant Robot for The Elderly
Zhang, Lei
Cao, Qixin
Leng, Chuntao
Tang, Aolin
Shi, Fei
[J]. MATERIALS, MECHATRONICS AND AUTOMATION, PTS 1-3, 2011, 467-469 : 1893 - +
[4] Research on The Control System of The Friendly Walking Assistant Robot for The Elderly
Wei, Xiaojuan
[J]. 3RD INTERNATIONAL CONFERENCE ON AUTOMATION, CONTROL AND ROBOTICS ENGINEERING (CACRE 2018), 2018, 428
[5] Dynamic Modeling and Control Method of Walking Posture of Multifunctional Elderly-assistant and Walking-assistant Robot for Preventing Elderly Fall
Mu, Xiaoqi
Zhang, Xiaodong
Osivue, Odekhe Randolph
Han, Huanjie
Kadry, Hamza Khaled
Wang, Yabin
[J]. 2018 INTERNATIONAL CONFERENCE ON SENSING, DIAGNOSTICS, PROGNOSTICS, AND CONTROL (SDPC), 2018, : 806 - 809
[6] Study on open standard control system of walking assistant robot for the elderly
Wu, X. Z.
Zhang, X. D.
Wang, C. Z.
[J]. MANUFACTURING AUTOMATION TECHNOLOGY DEVELOPMENT, 2011, 455 : 47 - +
[7] Research on Key Technology of Multifunctional Elderly-assistant & Walking-assistant Robot
Lai, Zhifa
Zhang, Xiaodong
Yin, Gui
[J]. 2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2016, : 767 - 771
[8] Modeling and Simulation of Transporting Elderly Posture of Multifunctional Elderly-Assistant and Walking-Assistant Robot
Hamza, Khaled Kadry
Zhang, Xiaodong
Mu, Xiaoqi
Odekhe, Randolph
Alhassan, Ahmad Bala
[J]. 2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 822 - 826
[9] Silbo : Development Walking Assistant Robot for the Elderly Based on Shared Control Strategy
Shim, Hyeon Min
Chung, Chi Youn
Lee, Eung Hyuk
Min, Hong Ki
Hong, Seung Hong
[J]. INTERNATIONAL JOURNAL OF COMPUTER SCIENCE AND NETWORK SECURITY, 2006, 6 (9A): : 189 - 195
[10] Research on control technology of elderly-assistant & walking-assistant robot based on tactile-slip sensation
Zhang Xiaodong
Wang Yunxia
Wei Xiaojuan
[J]. Engineering Sciences, 2013, 11 (01) : 89 - 96

← 1 2 3 4 5 →