Application of PID Control System in Mecanum Wheelchair

Abstract

This research centers on the design and implementation of a control system for an electric wheelchair equipped with Mecanum wheels. The study details a comprehensive research methodology starting with the creation of a block diagram to guide system design, hardware selection, and overall implementation. The electric wheelchair system incorporates power resources, input devices, and energy output mechanisms, utilizing a 24 VDC battery and a joystick with a 10K ohm potentiometer connected to an Arduino Due microcontroller. The operational workflow of the system is defined, enabling the wheelchair to respond to joystick commands for forward, left turn, right turn, and other movements. A PID control system is employed to regulate motor movement, enhancing control precision. The Cohen-Coon tuning method is used to determine the PID controller's gain, ensuring efficient closed-loop control. Results from PID controller experiments under P control and PD control are presented, demonstrating the system's responses for different gain values. Optimal performance is observed with a Kp value of 80 and Kd value of 1.2, showcasing improved response speed, reduced rise time, enhanced setting time, and lower percent overshoot. In conclusion, the combined proportional and derivative control system, specifically with Kp = 80 and Kd = 1.2, proves to be effective in enhancing the Mecanum wheelchair's performance. This study provides valuable insights into precise parameter adjustments for optimal control in Mecanum wheelchair applications.