Realization of an FPGA-based Motion Control System for Electric Standing Wheelchairs

FPGA Ying-Shieh Kung,Ping-Hang Huang,Fong-Chin Su and Tain-Song Chen 2011 IEEE Symposium on Industrial Electronics and Applications (ISIEA), September 25-28, 2011, Page:47 - 52::MA220102:

RS2322()312FPGA-based4

55DC

1024PPR

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7The motion of ESW at the (a)Start (b)Lift (c)Stand (d) Moving forward (e)Fall (f)Sit condition 8

Altera FPGAFPGANiosII

(PWM)(QEP)RS-232NiosII9FPGA

10(PWM Pulse Width Modulation)(PWM)(IPM)11

PS21276-AP(PWM Pulse Width Modulation)(Duty-Cycle)12

PWM

PWM 1310%30%50%10%30%50%10%30%50%PWM(Duty-Cycle) PWM1PWM3 PWM2PWM4PWM1PWM3PWM2PWM4PWM1PWM3 PWM2PWM4

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FPGAH(Photo-Encoder) 50%50%on-offAB15

(Rotary Optical Encoder)NEMICONOEW1024PPRFPGA4096PPR

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1024 PPR +5V15

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EncerEncoderGear ratio=1:5Timing beltRim MorRim Motor60Kg60Kg

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Motion tracking performance of ESW under no loadMotion tracking performance of ESW under user weight with 60Kg[1],,2010.

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