Modelling of Brushless DC Hub Motor to Control the Speed of Indigenous Powered Wheelchair

Wheelchair has a vital role in the life of disabled people. This paper proposes the novel wheelchair design with speed control, offers more benefits at low cost compared with an existing powered wheelchair. The Brushless DC (BLDC) Hub Motor embedded into 20, 24, and 26-inch spoke wheels. The rear wheels of the ordinary wheelchair replaced with designed wheels. In the rider's safety point of view, the speed control of the powered wheelchair on-ramps and indoor is a challenging task, and according to ISO, it should be 4.5 kmph. The PID controller was used to restrict the speed of the wheelchair at 5 Km/h, which helps in autonomous navigation. The results show the robustness of excellent speed control and ensure the comfort and safety of the patient.