本文係研究一般電動輪椅，將其改造形成可爬升一階樓梯或克服柏油路面與人行道間落差之爬階輪椅，而其機構之設計將會受限於使用的環境。在本文中使用的爬升系統為直線型伸縮之電動缸，利用其內部螺桿的設計，降低機構背隙影響控制結果可能。在前輪部分將傳統輪椅上之從動輪換成主動輪，提升爬階高度。接著利用線性化模型對其系統識別後，設計爬升時之響應規格，找出PID控制器參數。爬升過程中利用搖桿驅動前後輪，同時感測器判斷輪椅傾斜角度，使輪椅能恢復水平姿態，降低使用者在爬升過程產生的不舒服。本文將利用C8051F340為運算核心，整合馬達控制、感測器、濾波器及PID控制器，最後再由RS232回傳傾斜角度來說明爬階輪椅具有維持車身水平的基本能力。

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