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The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition

Mohamad Heerwan, Peeie and S. M., Asyraf and Muhammad Izhar, Ishak (2018) The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition. In: International Conference on Innovative Technology, Engineering and Sciences, iCITES 2018, 01-02 March 2018 , Universiti Malaysia Pahang. pp. 1-9., 342 (1). ISSN 17578981

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Abstract

During descending on a slope, the speed of Electric Powered Wheelchair (EPW) tends to changed rapidly. Normally, most EPW is provided with mechanical braking system which transfers human pulling force of the lever creating friction at the tire. However, the task is difficult for the users are elderly or paralyses. However, even for normal user with good strength, in fear condition they tend to give sudden braking which leads to tire locking up and skidding, eventually EPW unstable. These problems will cause accident and injuries to the users if speed does not properly control. In this paper, the automated braking torque control method was proposed in EPW as alternative to solve this problem and increase the mobility and stability especially during descending on slope in other to help the user of the EPW as their daily transportation. In this research, Proportional-Integral-Derivative and Sliding Mode Control controller are compared to determine the best response for torque braking control. The rapid change of speed can be controlled by the braking torque using proposed controllers based on the desired constant speed set by the control designer. Moreover, the sudden braking that caused tire to lock up and skid can be avoided. Furthermore, result from SMC shows this controller have good time respond to maintain the speed based on desired value when descending at slope condition by controlling the braking torque compared to the PID controller.

Item Type: Conference or Workshop Item (Speech)
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Braking control; Constant speed; Control methods; Electric powered wheelchairs; PID controllers
Subjects: T Technology > TJ Mechanical engineering and machinery
Faculty/Division: Faculty of Mechanical Engineering
Centre of Excellence: Automotive Engineering Centre
Depositing User: Dr. Mohamad Heerwan Peeie
Date Deposited: 30 Aug 2018 03:15
Last Modified: 30 Aug 2018 03:15
URI: http://umpir.ump.edu.my/id/eprint/21320
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