EE8412 TECHNICAL SEMINAR

FUZZY CONTROL FOR ELECTRIC POWER ASSITED

WHEEL CHAIR DRIVING ON DISTURBANCE ROADS

A TECHNICAL SEMINAR REPORT

Submitted by
A.ELAVARASAN REG. NO. 12209105302

In partial fulfillment for the award of the degree

of
BACHELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
 VEL TECH HIGH TECH DR.RANGARAJAN DR.SAKUNTHALA
ENGINEERING COLLEGE,
#60, Avadi-Veltech Road, Chennai-600 062

ANNA UNIVERSITY:: CHENNAI 600 025

APRIL 2019

EE8412 TECHNICAL SEMINAR

FUZZY CONTROL FOR ELECTRIC POWER ASSITED
WHEEL CHAIR DRIVING ON DISTURBANCE ROADS

A TECHNICAL SEMINAR REPORT

Submitted by
A.ELAVARASAN REG. NO. 12209105302

In partial fulfillment for the award of the degree

of
BACHELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
 VEL TECH HIGH TECH DR.RANGARAJAN DR.SAKUNTHALA
ENGINEERING COLLEGE,
#60, Avadi-Veltech Road, Chennai-600 062

ANNA UNIVERSITY:: CHENNAI 600 025

APRIL 2019
i

ANNA UNIVERSITY:: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this technical seminar report “FUZZY CONTROL FOR

ELECTRIC POWER ASSITED WHEEL CHAIR DRIVING ON
DISTURBANCE ROADS” is the bonafide work of “ELAVARASAN.A,
MUTHAMIL SELVAN.M, PANDIYAN.R” who carried out the technical
seminar work under my supervision.

SIGNATURE
Dr. J. PRAKASH, M.E., PH.D.,
HEAD OF THE DEPARTMENT
Professor
Electrical and Electronics Engineering
Vel Tech High Tech Dr. Rangarajan
Dr. Sakunthala Engineering College
Avadi, Chennai-600 062.
SIGNATURE
Mr. PRADEEP KATTA, M.E.,
SUPERVISOR
Assistant Professor
Electrical and Electronics Engineering
Vel Tech High Tech Dr. Rangarajan
Dr. Sakunthala Engineering College
Avadi, Chennai-600 062.
 ii

CERTIFICATE OF EVALUATION

COLLEGE NAME : VEL TECH HIGH TECH DR.RANGARAJAN

DR.SAKUNTHALA ENGINEERING COLLEGE

BRANCH : ELECTRICAL AND ELECTRONICS ENGINEERING

SEMESTER : IV

S. NAME OF THE INTERNAL

TITLE OF THE PROJECT
NO. STUDENT(S) SUPERVISOR

FUZZY CONTROL FOR ELECTRIC

POWER ASSITED WHEEL CHAIR Mr. PRADEEP
1. A.ELAVARASAN
DRIVING ON DISTURBANCE KATTA, M.E.,
ROADS

The report of the technical seminar work submitted by the above student in
partial fulfillment for the award of the Degree Bachelor of Engineering in
Electrical and Electronics Engineering of Anna University was evaluated and
confirmed to be report of the work done by the above student.
 Submitted for technical seminar review held on ………………. at
VELTECH HIGH TECH DR. RANGARAJAN DR. SAKUNTHALA
ENGINEERING COLLEGE

INTERNAL EXAMINER
iii

ACKNOWLEDGEMENT

We wish to express our sincere thanks and heartfelt gratitude to our founder,
chairman Dr. RANGARAJAN B.E (Elec)., B.E(Auto)., M.S(Auto)., D.Sc., our
vice chairman Dr. SAKUNTHALA RANGARAJAN, MBBS., and our vice
president Mr. K. V. D. KISHORE KUMAR, B.E., MBA., Vel Tech High Tech
Dr.Rangarajan Dr.Sakunthala Engineering College, for their constant support and
facilities provided by the institution.

We express our sincere thanks to our Principal Dr. E. KAMALANABAN,

B.E., M.E., Ph.D., and Dr. J. Prakash, M.E., Ph.D Professor and Head,
Department of Electrical And Electronics Engineering for their constant
encouragement and valuable assistance.

We take this opportunity to express our profound gratitude and deep regard
to our technical seminar supervisor Mr. PRADEEP KATTA, M.E., Assistant
Professor, department of Electrical and Electronics Engineering for their guidance
and constant encouragement throughout the course of the technical seminar.
Special thanks to Mr. PRADEEP KATTA, M.E., technical seminar coordinator
for his extremely valuable guidance and support throughout the course of the
technical seminar.
 We also thank our parents, various staffs, friends and all the good hearts for
rendering their valuable suggestions and inspiration during the course of our
technical seminar thereby making it successful.

iv

ABSTRACT

A power assisted wheelchair combines human power, which is delivered by

the arms through the push rims, with electrical motors, which are powered by a
battery. Today’s electric power assisted wheelchairs use force sensors to measure
the torque exerted on the push rims by the user. The force sensors in the push rims
are rather expensive and this approach also makes the wheels a little bit clumsy.
The objective with this project is to find a new, better and cheaper solution that
does not use expensive force sensors in the push rims.

The project consisted of two main parts; an extensive construction part,

where an ordinary joystick controlled motorized wheelchair has been rebuild to the
new power assisted wheelchair without torque sensors and a development part,
where different torque sensor free controllers has been designed, simulated,
programmed and tested.

The project resulted in a torque sensor free power assisted wheelchair, where
the final implemented design is a proportional derivative controller, which gives a
very good assisting system that is robust and insensitive to measurement noise. The
proportional derivative control design gives two adjustable parameters, which can
be tuned to fit a certain user; one parameter is used to adjust the amplification of
the user’s force and the other one is used to change the lasting time of the
propulsion influence.

Since the new assisting control system only relies on the velocity, the torque
sensor free power assisted wheelchair will besides giving the user assisting power
also give an assistant, which pushes the wheelchair, additional power. This is a big
advantage compared to the push rim activated one, where this benefit for the
assistant is not possible.

TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO.

ABSTRACT v

LIST OF TABLE xi

LIST OF FIGURES xii

LIST OF SYMBOLS xiii

1. INTRODUCTION 1

1.1 General
1.2…………..
1.2.1 General
1.2.2 . . . . . . . . . . .
1.2.2.1 General
1.2.2.2 . . . . . . . . . .
1.2.2.3 . . . . . . . . . .

1.2.3 . . . . . . . . . . . .
 1.3 . . . . . . . . . . .. . . . . . .

1.4 ………………………………

2. LITERATURE REVIEW 2

2.1 General
2.2 . . . . . . . . . .

vi

3 THEORETICAL BACKGROUND 4

3.1 Push rim Activated Power Assisted Wheelchair 4

3.2 Proposed System Hardware Interface 5

3.3 Electric Wheelchair 6

3.4 Joystick Mechanism 7

3.5 Motor Controller 8

3.6 Wheelchair Mechanism 11

3.7 Block Diagram 12

4 EMBEDDED MICROCONTROLLER 13

4.1 Needs of our project 14

4.2 Introduction 14

4.3 PIC microcontroller contains several families 14

4.4 Architecture 15

4.5 Peripheral Features 15

 4.6 USART 16

4.7 Operating Speed 17

4.8 Power on Reset 17

4.9 Watch Dog Timer 17

4.10 High Sink / Source Current 17

vii

4.11 Design Feature 17

5 SENSORY CIRCUIT 18

5.1. Embedded Microcontroller Model 20

5.2 The Graphical User Interface 21

5.3 Sensory Circuit Interface 22

5.4 Pulse Width Modulation 23

6 FUZZY LOGIC CONTROL 25

6.1 How to design a Fuzzy Logic Control? 26

6.2 Input/output Fuzzification 26

6.3 Fuzzy Operators 28

7 STEPPER MOTOR THEORY OF OPERATION 31

7.1 Stepper Motor Switching Sequence 34

7.2 Full-Step 34

7.3 Half-Step 34
 7.4 Micro Step Mode 35

7.5 Stepper Motors Overview 36

7.6 The most popular types of stepper motors are 36

7.7 Permanent-magnet (PM) Stepper Motors 36

7.8 Hybrid Stepper Motors 38

viii

7.9 Features 39

7.10 Objectives 40

7.11 Motor Step Movement 40

7.12 Specifications 41

8 OPTO COUPLER 42

8.1 Application 44

8.2 Diagnostic LEDS 44

8.3 Opto coupler types 44

9 DRIVER CIRCUITS 45

9.1 Pre-driver 45

9.2 Power Driver 45

10 POWER SUPPLY 46

10.1 Power supply unit 46

10.2 Step down transformer 46

 10.3 Rectifier unit 46

10.4 Filtering unit 47

10.5 Voltage regulators 47

10.6 Specifications 48

10.7 Stepper motor circuit diagram 48

ix

10.8 Pull down Resistor 49

10.9 Logic 50

10.10 Power Source Stepper Motor 50

11 CONCLUSION AND FUTURE WORKS 52

11.1 Conclusion 52

11.2 Future Works 52

 x

LIST OF TABLE

Table 5.5: The virtual joystick (GUI) 12

Table 5.5: The virtual joystick (GUI) 12

Table 5.5: The virtual joystick (GUI) 12

 xi

LIST OF FIGURES

Figure 3.1: Electric power wheelchair block diagram 5

Figure 3.2: Proposed prototype system block diagram 6

Figure 3.3: The not-modified electric wheelchair 7

Figure 3.4: The analog joystick 7

Figure 3.5: Block Diagram 12

Figure 5.1: Devantech SRF05 sensor 18

Figure 5.2: Sonar Ping and Echo 18

Figure 5.3: Sonar sensors placement on the wheelchair 19

Figure 5.4: The Controller Model Of Joystick 20

 xii

LIST OF SYMBOLS

1. α- Duty cycle 6

2. α- Duty cycle 10

3. α- Duty cycle 12
xiii