Design and implementation of the electrically powered wheelchair controller based on STM32

Electrically powered wheelchair controllers are crucial to the reactiveness of wheelchairs, but most of current controllers failed to deliver their proper functions due to unreliable data processing and open-loop controller. In the present study, we designed a new controller which uses a double CPU mode with two STM32 chips. The first CPU is responsible for collecting and processing the signals of directions and speed of the joystick, and then transferring data to the second CPU through a CAN bus. Using fuzzy PID control algorithm, the second CPU outputs signals through bridge H driven by PWM to achieve the differential operation of the motor. Our testing results of this controller showed that it can achieve all the desired functions of the electrically powered wheelchair. After it had been industrialized, it was used for the elderly, and solved their key technical problem while going outside.