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This research develops an electrical differential for
electrical wheelchairs with two motors instead of mechanical
differential. The steering function is achieved by the control
of differential speed between two motors, whose comm- ands are
generated by a simplified differential formula. A digital full-
bridge PWM (Pulse Width Modulation) motor driver and a single
board controller with the PI control law is designed and
implemented with the motorized wheelchair. The performance of
the electrical wheelchair is tested successfully with simu-
lations and experiments.
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