EE8412
EE8412
EE8412
Submitted by
A.ELAVARASAN REG. NO. 12209105302
Submitted by
A.ELAVARASAN REG. NO. 12209105302
BONAFIDE CERTIFICATE
SIGNATURE SIGNATURE
Dr. J. PRAKASH, M.E., PH.D., Mr. PRADEEP KATTA, M.E.,
HEAD OF THE DEPARTMENT SUPERVISOR
Professor Assistant Professor
Electrical and Electronics Engineering Electrical and Electronics Engineering
Vel Tech High Tech Dr. Rangarajan Vel Tech High Tech Dr. Rangarajan
Dr. Sakunthala Engineering College Dr. Sakunthala Engineering College
Avadi, Chennai-600 062. Avadi, Chennai-600 062.
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CERTIFICATE OF EVALUATION
SEMESTER : IV
The report of the technical seminar work submitted by the above student in
partial fulfillment for the award of the Degree Bachelor of Engineering in
Electrical and Electronics Engineering of Anna University was evaluated and
confirmed to be report of the work done by the above student.
Submitted for technical seminar review held on ………………. at
VELTECH HIGH TECH DR. RANGARAJAN DR. SAKUNTHALA
ENGINEERING COLLEGE
INTERNAL EXAMINER
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ACKNOWLEDGEMENT
We wish to express our sincere thanks and heartfelt gratitude to our founder,
chairman Dr. RANGARAJAN B.E (Elec)., B.E(Auto)., M.S(Auto)., D.Sc., our
vice chairman Dr. SAKUNTHALA RANGARAJAN, MBBS., and our vice
president Mr. K. V. D. KISHORE KUMAR, B.E., MBA., Vel Tech High Tech
Dr.Rangarajan Dr.Sakunthala Engineering College, for their constant support and
facilities provided by the institution.
We take this opportunity to express our profound gratitude and deep regard
to our technical seminar supervisor Mr. PRADEEP KATTA, M.E., Assistant
Professor, department of Electrical and Electronics Engineering for their guidance
and constant encouragement throughout the course of the technical seminar.
Special thanks to Mr. PRADEEP KATTA, M.E., technical seminar coordinator
for his extremely valuable guidance and support throughout the course of the
technical seminar.
We also thank our parents, various staffs, friends and all the good hearts for
rendering their valuable suggestions and inspiration during the course of our
technical seminar thereby making it successful.
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ABSTRACT
The project resulted in a torque sensor free power assisted wheelchair, where
the final implemented design is a proportional derivative controller, which gives a
very good assisting system that is robust and insensitive to measurement noise. The
proportional derivative control design gives two adjustable parameters, which can
be tuned to fit a certain user; one parameter is used to adjust the amplification of
the user’s force and the other one is used to change the lasting time of the
propulsion influence.
Since the new assisting control system only relies on the velocity, the torque
sensor free power assisted wheelchair will besides giving the user assisting power
also give an assistant, which pushes the wheelchair, additional power. This is a big
advantage compared to the push rim activated one, where this benefit for the
assistant is not possible.
TABLE OF CONTENTS
ABSTRACT v
LIST OF TABLE xi
1. INTRODUCTION 1
1.1 General
1.2…………..
1.2.1 General
1.2.2 . . . . . . . . . . .
1.2.2.1 General
1.2.2.2 . . . . . . . . . .
1.2.2.3 . . . . . . . . . .
1.2.3 . . . . . . . . . . . .
1.3 . . . . . . . . . . .. . . . . . .
1.4 ………………………………
2. LITERATURE REVIEW 2
2.1 General
2.2 . . . . . . . . . .
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3 THEORETICAL BACKGROUND 4
4 EMBEDDED MICROCONTROLLER 13
4.2 Introduction 14
4.4 Architecture 15
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5 SENSORY CIRCUIT 18
7.2 Full-Step 34
7.3 Half-Step 34
7.4 Micro Step Mode 35
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7.9 Features 39
7.10 Objectives 40
7.12 Specifications 41
8 OPTO COUPLER 42
8.1 Application 44
9 DRIVER CIRCUITS 45
9.1 Pre-driver 45
10 POWER SUPPLY 46
10.6 Specifications 48
ix
10.9 Logic 50
11.1 Conclusion 52
LIST OF TABLE
LIST OF FIGURES
LIST OF SYMBOLS
1. α- Duty cycle 6
2. α- Duty cycle 10
3. α- Duty cycle 12
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