327 Research for Slow Velocity Steady Driving under the Slope Environment by PID Control

Abstract

At the steep slope condition, the electric wheelchair has a serious problem for driving itself. Unstable driving performance dose not be satisfied by the senior person's usability. In this paper, we examined the effect of slope for slow speed driving wheelchair which has two order system of transfer function. The control method is PID control and motor speed correspond to variation of slop gradient is controlled. We appear the disturbance like a slop condition can be eliminated at the optimum design which locate the disturbance between plant and controller.