Investigation of the design and control of the seat type stair lift

Disabled people, elderly people, patients or people who have lost their mobility due to an accident cannot go up and down stairs in open or closed spaces. Similar restrictive situations such as these can cause individuals who lose their mobility to be isolated from society. Today, individuals who do not have the ability to move with a stair lift that can move on a rail pipe profile that can be mounted on the railing of the stairs or right next to the railing, can easily get up and down the stairs without escort. In this study, angle and speed control of seat type stair lift has been studied. Firstly the system was designed, its prototype was drawn with 3D design program and assembled. The motion equations of the system were obtained by using "Newton's Laws of Motion" and "Energy Based Lagrange Method". Using these motion equations, the simulation and closed loop control of the system in MATLAB / Simulink program were examined. In the system, two separate control structure were used for the speed control of the carrier and angular position control of the seat. The system response according to various inputs such as different road and angular seat profiles were examined using various control techniques.