Elektrikli tekerlekli sandalyenin geri beslemeli hareket kontrolü

This thesis presents the design and implementation of feedback control for the direction and speed of an electric wheelchair through the appropriate feedback signal. Wheelchairs and electric wheelchairs present various challenges for individuals who use them. In this research, a new control system design for an electric wheelchair is presented to feedbacks on the data obtained. Instead of the standard motor driver of the electric wheelchair, it was thought to make a new and economical motor driver. An encoder and motion controller are added to the control system architecture for precise motion control. All feedback signals are evaluated and codes are written for different possible scenarios. The design scenarios of the system where different algorithms are applied for smooth driving in case the electric wheelchair traveling on the determined route returns to the desired position when it is not hit from the left or if the driver is overweight or underweight are examples of design scenarios. As a result, our findings show that the proposed design can control the autonomous system in a closed loop. In addition, tests on a real wheelchair prove the effectiveness of the model and the designed control system. The results of the study form the basis for the ongoing autonomous wheelchair project and contribute to the research field of assistive technologies for the disabled and the elderly.