|
|
| |
| Wheelchair Speed Adjustment Based on Fuzzy Logic Controller for User Comfort |
Sumardi, Aghus Sofwan, Achmad Hidayatno, Arum Patadani
|
Abstract:
The smart wheelchair has a dc motor as its driving force so that the wheelchair can move automatically. Wheelchairs are used to facilitate the mobility of patients and people with disabilities. The level of comfort of a wheelchair is a significant concern in the design of intelligent wheelchair speeds. Wheelchair speed is intelligently controlled using fuzzy logic controls with two inputs, which are displacement speed and error, and output in the form of PWM (Pulse Width Modulation) values. Fuzzy logic control input data is obtained from rotary encoder sensor readings, and PWM values are used to drive dc motors through motor drivers. Smart wheelchair walking following a predetermined trajectory. Test results from the zero point into the bedroom with a load of 43 kg, using a controller, obtained an acceleration value of 5.010593 cm / s2 and deceleration -1.61225 cm / s2. In contrast, testing without a controller yields an acceleration and deceleration with values of 12.71532 cm/s2 and -2.1559 cm/s2, respectively. Based on the controller's test results, the resulting acceleration and deceleration values are smaller so that user comfort can be more awake. The level of comfort of a wheelchair was assessed using a questionnaire. The average response of thirty respondents stated that setting the wheelchair's speed from zero to the sleeping room was comfortable.
|
|
|
| | |