Design of Automobile Wheelchair Based on Fixed Speed Track with Load Torque Observer

This paper presents a torque observer design, which can be used to accurately control and estimate impact torque of the automobile wheelchair. The controllers compensate a force for the plant to track up command speed when the plant´s torque is accurately observed. This method of observer design is to combine an adaptive observer and a PI controller to accurately control the apparatus. The adaptive load torque observer is used to estimate and predict the states of the plant, and the PI controller is used to control and accelerate tracking with speed command. This design is experimented on the automobile wheelchair to show that the proposed method has good performances and is suitable for automobile wheelchair design. Especially, in this paper the adaptive observer doesn´t need to set more sensors than the conventional observer and measurement of the proposed observer is more accurate than that of the conventional load torque observer.