Abstract
This research presents the use of power permanent magnet synchronous motors. This is used as power of traditional manual wheelchairs. Since the wheelchair is subjected to environmental restrictions, especially for wheelchair rotating on the slope. A number of literature focus on maneuvering of electric wheelchairs on the slope and doing suppression control. This article considers wheelchair movement on a slope. The gravitational force generated parallel to the slope of the decline, affects the balance of the wheelchair. Further, when wheelchair is turning on slope, it will produce centrifugal force. It also affects balance of the wheelchairs and increases the risk of loss of control and overturn. Wheelchairs dynamic analysis using Newton method to reach the rotary speed, thus realize the importance of controlling speed of wheelchairs. Due to low cost and simple control strategy, DC motors are widely used in deceleration mechanism. However, this mechanism is bulky and relatively inconvenient. Also brushes of DC motors should be cleaned regularly to use efficiently. Therefore to avoid these difficulties, AC motor is chosen. The hub permanent magnet synchronous motor (PMSM) is used in this experiment, and driven in Vector control, also known as field-oriented control. Because of structural constraints, deceleration mechanism and encoder can’t be installed. Speed control only depends on Hall signal that increases the difficulty of low speed control. The simulation of the motor drive system is based on MATLAB environment. Further experiment and motor driven control algorithm is conducted using 28035-based motor driven DSP controller. Here two PMSMs are controlled using one DSP.