PROGRAMMABLE VELOCITY PROFILE FOR WHEELED MOBILE ROBOT SHERINATASHA BINTI JEONMANI

PROGRAMMABLE VELOCITY PROFILE FOR WHEELED MOBILE ROBOT SHERINATASHA BINTI JEONMANI Thi hei i preened in parial fulfillen for he award of he Maer Degree in Elecrical Engineering (Mecharonic and Rooic) Faculy of Elecrical & Elecronic Engineering Univerii Tun Huein Onn Malayia JUNE 0

TABLE OF CONTENTS Acknowledgeen Arac i ii CHAPTER : INTRODUCTION. Background Of Sudy. Prole Saeen.3 Ojecive 3.4 Scope Of Work 3.5 Ouline Projec 4.6 Thei Organizaion 4 CHAPTER : LITERATURE REVIEW. Inroducion 5. Rooic Whellchair 5.3 Proceor and Microconroller Uni 7.4 Navigaion Conrol 9 CHAPTER 3: METHODOLOGY 3. Inroducion 0 3. Mehodology 0 3.3 Modelling 3.4 Speed Conrol Sye 4 3.5 Speed Regulaion 8 3.6 ineic Roo Wheelchair 3.7 Moion Profile 4 3.8 Profile Velociy 5 3.8 Sye Funcionaliy 6

CHAPTER 4: HARDWARE IMPLEMENTATION 4. HardwareDevelopen 7 4. Uer Conroller Panel (UCP) 7 4.3 Rooic Wheelchair Prooype 9 CHAPTER 5: SOFTWARE DEVELOPMENT 5. Inroducion 37 5. Pro Prograing Proocol For Rooic Wheelchair 38 5.3 Sofware Proocol For Analog To Digial Converer (A/D) Module 4 5.4 Sofware Proocol For PWM Module 4 CHAPTER 6: RESULT AND DISCUSSION 6. Inroducion 44 6. Caliraion 46 6.. Pw Module Teing 48 6.. Teing The Perforance Of Rp Wih Two Type Of Moor 5 6..3 Meaure The Velociy Of Roo Wheel Chair (Wihou Load) Wih Differen PWM 55 6..4 Meaure The Velociy Of Roo Wheel Chair (Wih Load kg ) Wih Differen Pw 58 6.3 Dicuion 6 CHAPTER 7: CONCLUSION AND FUTURE DEVELOPMENT 7. Concluion 6 7. Fuure Developen 63 REFERENCES 64

LIST OF FIGURES 3. Flowchar of Overall Mehod 3. Block Diagra of Wheelchair 3.3 Analog Moveen 3 3.4 Speed Conrol Sye 4 3.5 Block Diagra of he Speed Conrol Sye 4 3.6 Block Diagra of he Siplified Speed Conrol Sye 6 3.7 Repone of he Siplified Speed Conrol Sye 7 3.8 DC Moor Sye 8 3.9 Moor Speed Regulaion Sye 0 3.0 Srucure of Rooic Wheelchair 3. Moion Profile 4 3. Conan Profile Velociy 5 3.3 Linearizaion of he liquid level operaing ye 5 3.4 Scheaic diagra of he overall ye 6 3.5 Linearizaion of he liquid level operaing ye 6 4. Archiecure of UCP 8 4. PIC6F88 74A Microconroller Uni 9 4.3 Phyical Appearance of Rooic Wheelchair Mini-Model 30 4.4 PIC6F874A Microconroller Uni 3 4.5 Moor Driver Inerfacing Circui 3 4.6 Micro Meal Geared DC oor 33

4.7 Arrangeen of DC oor 34 4.8 Encoder for Polulu Wheel 35 4.9 Block Diagra of Rooic Wheelchair 36 5. Sofware developen uing MPLa Tool uie 38 5. Flow Char of Rooic Wheelchair 39 5.3 Flow Char of Rooic Wheelchair Seing Manually 40 6. Diance Roaion per Meer 46 6. Rooic Wheelchair Moving along eer Poiion 47 6.3 PWM-CCPx oupu ignal for 00% duy cycle(a), PWM-CCPx oupu ignal for 90% duy cycle() 48 6.4 PWM-CCPx oupu ignal for 80% duy cycle(c) PWM-CCPx oupu ignal for 50% duy cycle(d) 49 6.5 Reul Uing Moor wih Raio :30 wihou Load 5 6.6 Reul Uing Moor wih Raio :30 wih Load 5 6.7 Reul Uing Moor wih Raio :50 wihou Load 5 6.8 Reul Uing Moor wih Raio :50 Foward 53 6.9 Reul Uing Moor wih Raio :50 Backward 54 6.0 Graph for eaure velociy wih PWM 0 56 6. Graph for eaure velociy uing PWM 30 56 6. Graph for eaure velociy uing PWM 40 57 6.3 Graph for eaure velociy uing PWM 50 57 6.4 Graph for eaure velociy wih PWM 0 (Lkg) 58 6.5 Graph for eaure velociy wih PWM 30(Lkg) 59 6.6 Graph for eaure velociy wih PWM 40(Lkg) 59 6.7 Graph for eaure velociy wih PWM 50(Lkg) 60

LIST OF TABLES 4. Oupu and Inpu Sage Of L98 3 4. DC Moor Characeriic 33 6. Condiion of oor wih repec o he analog joyick inrucion 50 6. PWM Seing For Meaure he RPM of Rooic Wheelchair 5 6.3 PWM Seing For Meaure he Velociy of Rooic Wheelchair 55

LIST OF ABBREVATIONS A/D BAW DC EPW MCU PAPAW PB PIC PSoC PWM Analog o Digial Converer Baery Aied Wheelchair Direc curren Elecric Powered Wheelchair Microconroller Uni Puhri-Acivaed Power-Aied Wheelchair Puh Buon Prograale Inerface Conroller Prograale Sye on Chip Pule Widh Modulaion

CHAPTER INTRODUCTION. Background Of Sudy Wheelchair are faciliie ha provide funcional oiliy for people wih lower and upper (exreiy) ody ipairen of all age. Manual wheelchair are hoe ha require huan power o ove he uually y urning he large rear wheel. The effor o iprove faciliie for he oiliy-ipaired dialed and wheelchair-ound people are increaingly adoped y any faciliy provider uch a relaed governen odie, welfare odie a well a NGO in he la few year. The echnological advanceen in oday life ha allowed wheelchair-ound people o ove eaily hrough he developen of rooic wheelchair and elecric-powered wheelchair (EPW) []. The aic idea of rooic wheelchair i a wheelchair ha include an ai fro elecrical eleen o reduce he effor fro huan o ove he puh ri. The origin of coercial EPW can e raced o he 950 []. Coonly, navigaional conrol of elecric powered wheelchair i provided y a joyick ouned on he arre of he wheelchair. The conroller i ued o provide everal aic oveen uch a ove forward, revere, lef-urn, and righ-urn. The joyick ay have addiional conrol o allow he uer o adap eniiviy or acce uliple conrol ode. I i iporan ha prograale velociy profile of elecric powered wheelchair have he capailiy o provide efficien and reliale conrol ode.

. Prole Saeen The curren ae of EPW conrol echnology doe no provide adequae oiliy and cofor for any EPW uer, epecially under advere driving condiion[]. Thi drawack can e enhanced in order o iprove he anipulaion of oveen y uer. EPW pah uually coni of raigh and curved line. A EPW ainly ove along he raigh line and here i a lile roaion if any. Since he oor ha a high orque, hi projec conider only raigh line pah. Several propoed ehod ha een applied hroughou he developen proce. i. A rooic wheelchair ha een developed inead of uing joyick in order o provide adequae navigaional conrol o he rooic wheelchair. ii. The perforance analyi of he velociy profile i aken regardle he acual characeriic of rooic wheelchair. Due o he liiaion of reource, a ini-odel of rooic wheelchair ha een developed o provide iulaion and e run during experienal eup. Hence, he paraeer uch a errain condiion, orque of oor, and ailiy of he wheelchair were no aken ino conideraion. iii. Microconroller Uni ac a he rain of rooic wheelchair. Prograale Inerface Conroller (PIC) fro Microchip Technology Inc ha een ued a he MCU of rooic wheelchair. Thee MCU were choen ince i offer lo of advanage and i flexile in er of inerfacing ehod and algorih deign.

3.3 Ojecive The ojecive of hi projec i o exaine he funcionaliy of he anual conrol ode ha ipleen joyick a a conroller. In order o achieve he purpoe, oe of ojecive have een e: i. To ipleen rooic wheelchair uing PIC ipleenaion ii. To udy and analyze he profile of velociy uing rooic wheelchair in order o reach he raed peed uing wo ype of differen oor..4 Scope Of Projec i. A ini-odel of rooic wheelchair ha een developed o analyze he profile of conrol of velociy. The rooic wheelchair for hi projec i no dependen of enor. I ue a geared DC oor ouned on each wheel. The aic locooion uch a ove forward, revere, lef and righ urning were conrolled y joyick. ii. PIC6F877 i ued a he MCU for rooic wheelchair and PIC6F88 ha een ued a he MCU and C Prograing ha een ipleened a he algorih

4.5 Ouline Projec Thi reearch wa carried ou aed on everal ep. The ep are a follow: i. Projec applicaion and pecificaion wa idenified. ii. Appropriae Microconroller Uni and uiale coponen were eleced. iii. Deigning he elecrical circui a well a he echanical rucure of rooic wheelchair. iv. Developen of he algorih for wheelchair locooion and analog eering. v. Collec analyical daa and graphical reul in er of phoograph and video..6 Thei Organizaion Thi hei i organized ino ix chaper. Chaper i on he inroducion o hi reearch. Chaper focue on he lieraure review for rooic wheelchair and i conrol ode. Chaper 3 ouline he ehodology and chaper 4 diccu he hardware ipleenaion and ofware developen of he odel of rooic wheelchair i preen in chaper 5. Chaper 6 dicu and conclude he reul ha have een oained and he recoendaion for fuure developen.

5 CHAPTER LITERATURE REVIEW. Inroducion Thi chaper focu on he inroducion of rooic wheelchair and conrol ode of wheelchair navigaion ha were ued for hi projec. Review fro previou work relaed o he projec will alo e preened in hi chaper. Secion. i on he developen of rooic wheelchair. Type of conrolling ode for rooic wheelchair i preened in ecion.3.. Rooic Wheelchair A wheelchair i a chair wih wheel, deigned a a replaceen apparau for walking. The ignificance of providing uch infrarucure ha increae he cofor of wheelchair-ounded people encourage reearcher o develop a eer wheelchair ye. Elecrical wheelchair are ecoing increaingly iporan a ore uer raniion fro anual oiliy o powered oiliy.

6 Iproveen in conrol echnique and algorih for Elecric-powered Wheelchair (EPW) are needed o expend he populaion of people who can drive independenly and o enhance driving afey []. Wheelchair ued in [3] i a hyrid eween a anual wheelchair and a aery powered wheelchair. Separae peranen agne DC oor i ouned on he each wheel Axel [, 3]. There ha een developen of wheelchair ha ue a coinaion of huan power and elecric power [3]. However he developen of elecric wheelchair require high deand of reource hence he rooic wheelchair for hi paper only include a iniaure of rooic wheelchair odel ha applie all of he eenial of rooic wheelchair. The eleen of rooic wheelchair include in hi projec were; () Moor ouned on each wheel a acuaor or drive ye, () Proceor or Conroller Module, and (3) Huan achine inerface o provide Navigaion Conrol. Furher explanaion on he deign and developen of rooic wheelchair ha een ade in chaper 3.

7.3 Proceor and Microconroller Uni The ain eleen of a rooic wheelchair i he conrol ye ha ac a i rain. The conrol ye inerfaced wih inpu and oupu odule ha relaed o he rooic wheelchair i ued o do he enire proceing ak. The conrol ye involved in hi projec did no include uliple inpu o e proceed y proceor. A enioned in he cope of projec, here are no enor ued o provide oveen conrol o he rooic wheelchair. A iple and reliale conrol ye ha een ued for hi projec. The rooic wheelchair developed in hi projec ipleened ediu range Prograale Inegraed Circui fro Microchip echnology Inc ha ha he appropriae feaure and capale o provide he conrolling proce. There were everal proceor or conroller ha ha een applied y oher reearcher a he conrol ye for heir rooic wheelchair. In [4], a wheelchair aed on coercial wheelchair ye wih addiion of a DOSaed copuer ye ha een developed. A copuer uni ha een placed on he NavChair o provide he conrol ye of he wheelchair. Fro he reul oained in [4], i can e concluded ha NavChair allow differen operaing level ranging fro iple oacle avoidance o fully auonoou navigaion. Neverhele, NavChair alo require he wheelchair o carry he DOS-aed copuer. Reference [5] developed an Auonoou Navigaion rooic wheelchair ha aed on diriued copuing archiecure. In heir deign, a Prograale Sye-on-Chip (PSoC) copuing and conrol archiecure wa ipleened. The ak wihin auonoou navigaion are caegorized ino huan achine inerface, enor collecion, fuzzy logic aed navigaion funcion, and hee ak are individually ipleened uing he PSoC [5]. Coparing wih [4],

8 rooic wheelchair in [5] applied PSoC ha reduce co, ize, and energy conupion of rooic wheelchair copuing uni. Such copuing archiecure are proven o have he capailiy o increae he reliailiy of he popular Peronal Copuer (PC) aed navigaion ye [5]. The inroducion of he Microconroller Uni (MCU) ha have een ued in hi are elaoraed in chaper 3. Chaper 3 alo include he furher explanaion on how he MCU were ipleened..4 Navigaion Conrol Rooic wheelchair need a navigaion ye in order o provide he oveen conrol. Navigaion conrol can e claified a auonoou conrol and anual conrol ode. The Uer Conroller Panel ha ha een deigned in hi projec i equipped wih analog eering ha can provide of urning a well a he direcion uon ha provide aic oveen o he wheelchair. The phyical appearance and archiecure of UCP are clearly explained in he nex chaper. Alhough uliple conrol ode can e provided o he wheelchair, anual conrol ode can e conidered a he o iporan and popular. The uage of conroller panel or joyick ofen ha een choen y reearcher in heir udy [4, 6, 7]. Reference [5] apply velociy conrol o increae he afey of eering. In hi anner, increaing eering angle will reul in he decreaing in peed of he wheelchair. Rory A. Cooper e.al ha developed The Puhri-Acivaed Power- Aied Wheelchair (PAPAW) ha refer o an enirely new cla of wheelchair

9 [7]. The hared conrol ye for PAPAW u accoun for huan ehaviour and he ineracion wih he device. The hared conrol ye wa ale o achieve all of he deired ojecive [7]. Baery Aied Wheelchair (BAW) in [3] wa provided wih joyick ha generae he ped reference for each wheel oor and here i a puh uon on joyick ha ha o e kep preed y rider while driving. Reference [8] preened a LIASD-Wheelchair wih an eedded USB joyick. In heir deign, a joyick which i a SpeedLink SL-66 i an eedded USB ype ha ha any configurale uon o eae he navigaion proce. In [8], when he wheelchair ove in conrained environen, avoidance oacle ervice i ipleened in he righ anner. However, o of he wheelchair ha have een developed provide ore han one conrol ode. I increae he capailiy of he wheelchair navigaion conrol. A rooic wheelchair wih hree conrol ode naely; () auonoou conrol, () anual conrol wih inial inenional operaion, and (3) reoe conrol, ha een developed in [9]. One of he feaure of he conrol ode in [9] enale uer o ake he wheelchair coe and go y hand geure eide eing ale o coe o he uer y face recogniion.

0 CHAPTER 3 METHODOLOGY 3. Inroducion Thi chaper cover he ehod applied hroughou he udy and ep aken during he developen of he projec. Secion 3. decrie he flow of he ehodology ued in hi projec. The deail odelling on he hardware deign and all of he heory referred in hi projec i elaoraed in ecion 3. and ecion 3.3. Laly, ecion 3.4 focue on ye funcionaliy of hi projec 3. Mehodology Cerain procee have een done o accoplih he overall developen of he projec. Figure 3.- how he flowchar of he overall ehod ha have een applied hroughou he projec.

Sar Idenify he projec applicaion and he pecificaion Selecion of he appropriae icroconroller uni (PIC) and uiale coponen Deign a prooype of rooic wheelchair wih receiver odule circui and icroconroller uni eedded o i. Te all of he circui and all of he device ha have een inerfaced Error No Ye Troulehoo Analyze and udy he appropriae algorih for PIC and algorih for oveen of wheelchair uing PWM odule. Develop algorih for LCD Diplay uing C language Develop Joyick algorih for direcion oveen of he wheelchair. (Forward, righ, lef, revere, and op) Develop algorih for eering uing analog inpu o provide of urning (o he lef and righ) Copile Error Ye Deug & roulehoo Siulae and e he conroller o conrol he oveen of rooic wheelchair in er of oveen. No Collec analyical daa and graphical reul (video & phoo) End Figure 3.: Flowchar of Overall Mehod

3.3 Modeling Conroller Acuaor Inpu Signal - Swich A, B, C Moor Oupu (RPM) Meaureen Encoder Figure 3.: Block Diagra of Wheelchair In hi chaper i dicued aou how o odel he ye of he rooic wheelchair. Figure 3. i a aic rucure of a feedack conrol ye. The inpu Conroller i o ove he roo wih e he progra ha read he analog volage fro wich A, wich B and wich C. For exaple o ove forward he analog conroller hould e puh forward and he range of ADC value for y-axi aye greaer han 900. For x-axi i hould e a he cener however i i eer o have a ig cener range aye 00 o 900. Fro hi idea, he analog conroller can conrolled he oveen of he roo o e forward, ackward, lef, and righ and op figure 3.3. A DC oor a acuaor o analyze and coonly ued in roo anipulaor. I work on he principle ha curren carrying conducor in a agneic field a force.

3 03 03 0 0 Figure 3.3: Analog Moveen The encoder here ac a eauring he oveen of he welve eeh along he wheel ri. The wo enor are paced o provide wavefor approxiaely 90 degree ou of phae, allowing he direcion of roaion o e deerined and generae pule for roaion.

4 3.4 Speed Conrol Sye Preciion conrol of he angular velociy ω () of an ineria load driven direcly y an araure conrolled dc oor can e achieved y coparing an inpu volage, V i repreening a deanded peed ω i and derived fro a ource of conan volage V via a poenioeer wih a feedack volage oor haf. Vg derived fro a achoeer coupled o he The peed conrol ye keching and lock diagra i hown in Figure3.4- and Figure 3.4 repecively e E R L v e () v a() Encoder p -E v i () Figure3.4: Speed Conrol Sye Figure3.5: Block Diagra of he Speed Conrol Sye

5 By reference he lock diagra hown in figure 3.5 he ranfer funcion for he ye i given y : a B J L R v v ) )( ( ) ( ) ( If L i ignored ) ( 0 L a R B RJ v v ) ( ) ( R B RJ R B If ake R B R B RJ T (ie conan) a T v v ) ( ) (

6 ϑ () p - T () v e Figure3.6: Block Diagra of he Siplified Speed Conrol Sye The final ranfer funcion for peed conrol ye i hown elow v θ ( ) i ( ) p T T T p p If θ i ( ), hen he angular peed of he ye can e hown o vary a hown in Figure 3.7 Fro figure i ore inereed a he eady ae perforance of he peed conrol ye.

Figure3.7: Repone of he Siplified Speed Conrol Sye 7

8 3.5 Speed Regulaion Regulaion ye give oupu power in he eady ae condiion. For exaple oor peed regulaion ainain he peed of he oor a a conan peed alhough he load orque change. Even hough he load i aen, he oor u generae an enough orque o overcoe he fricional orque. Volage regulaion he volage u e conan alhough he load change. Figure 3.8: DC Moor Sye Figure 3.8 hown he hree ranfer funcion can e derive which are Volage Equaion : dia ( ) Va ( ) Ria ( ) L e ( ) () d Moor orque equaion: T ( ) ia ( ) () Back ef equaion:

9 e ( ) ω ( ) (3) Suiuing for equaion () and () o equaion (3) hen ge: T ( ) V ( ) a di ( ) L R ω ( ) L (4) d By rearranging equaion (4) hen ge: Va R L dil ( ) ω ( ) T ( ) (5) d In he eady ae condiion, ie variale i no involved anyore, herefore he equaion can e wrien a (aue ha L0): V R T ω a (6) In addiion, in he eady ae condiion, he peed of he oor i conan; herefore he orque generaed y he oor u e he ae a he load orque. Thu: T T L (7) Where T L i he load orque (all of he fricional orque and applied orque).

0 Aue ha R, L and ω ω o Equaion (6) ecoe ω V T (7) o a L L In order o ake he ye i an open loop (no feedack a he ie) Where: Va V and e V e Vi So, Va V (8) i Therefore y uiuing equaion (i) ino (h) ω V T (9) o i L L Thi equaion can e graphically repreened y lock diagra in figure 3.9 T L L V i - ω o Moor (oor &gear) Figure 3.9: Moor Speed Regulaion Sye

3.6 ineaic Roo Wheelchair Figure 3.0: Srucure of Rooic Wheelchair Figure 3.9 repreen of a roo wheelchair wih eerale fron wheel. Maheaically he configuraion of he wheelchair can e decried y [ ] T q x, y,θ, φ, where x and y are he poin a he cener of he he rear axle, θ i he headling angle, and φ i he eering angle a hown in he figure. he rolling wihou lipping conrain are found y eing he ideway velociy of he fron and rear wheel o zero. Thi lead o in.. inθ x coθ y 0 ( θ φ) co( θ φ) y d coφθ 0... x (0) Thi can e wrien a [ inθ coθ 0 0 ] q < w q> 0.,. [ in( θ φ) co( θ φ) d coφ 0] q < w q> 0 () I i hu raigh forward o he conrol ye..,.

0 inθ 0 in θ g ; g () 0 anφ d 0 Figure 3.0 how ha he rucure of rooic wheelchair. Aue ha rooic wheelchair ha a yerical rucure driven y wo idenical DC oor. Alo aue oh oor of rooic wheelchair have he ae araure reiance, ack-ef conan orque conan, and gear raio. For ipler dynaic, neglec he inducance of araure circui ince elecrical repone i generally uch faer han echanical repone. Leing e he aery volage upplied, araure circui of oh oor are decried y (3) R L Where i [ i i ] T R L i he araure curren vecor, [ w w ] T R L velociy vecor of wheel, and [ ] T u u u w i he angular i he noralize inpu volage vecor. Supercrip R and L correpond o righ and lef oor, repecively. In addiion, dynaic relaion eween angular velociy and oor curren conidering ineria and vicou fricion ecoe [0] Where oor. dw J Fv w ρi (4) d Fv i he vicou fricion coefficien and J i he equivalen ineria arix Then oain he following differenial equaion:. w Aw Bu (5)

3 Where a v R F J a a a a A ρ and a V R J B ρ Define he ae vecor a [ ] T w v z, ranlaional velociy of WMR a v, and roaional velociy of WMR a w. Then, v and w are relaed wih R w and L w a L R q w w T w v, r r r r T q (6) uing iilariy ranforaion (5) and (6), we ge he following equaion: Bu A z z. (7) Where 0 0 0 0 a a a a AT T A q q λ λ r r r r B T B q ) ( ) ( ) ( ) ( β β β β Define poure a[ ] T y x ) ( ) ( ) ( φ. Then rooic wheelchair kineaic i define a w v y x 0 0 0 in co φ φ φ (8) When rooic wheelchair ove a long a raigh linepah, angular velociy φ i zero ince he ae conrol inpu i applied o each oor. Hence (8) can e wrien a a iple for: [ ] T T v y x 0 0 φ (9)

4 3.7 Moion Profile In heoreical he purpoe of all ervo ye i o ove oe kind of load. The way in which he load i oved i known a he oion profile. A oion profile can e a iple a a oveen fro poin A o poin B on a ingle axi, or i ay e a coplex ove in which uliple axe need o ove preciely in coordinaion. An exaple profile i hown in Figure 3.0. The oal diance raveled, D, i found y calculaing he area under he curve. T i he oal ie required for he ove. The lope of he velociy curve repreen he acceleraion or deceleraion a ha paricular inan. There are everal ype of oion profile ued wih ervo conrol ye. The o ofen ued are Conan Velociy, Trapezoidal, and S-Curve oion profile. Figure 3.: Moion Profile

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