四轮电动助行车电机构的研究.pdfVIP

摘 要 摘 要 随着社会发展以及人们生活水平的提高，我国人口老龄化问题越来越严重，因 此，老年人和肢体残疾者对轮椅等辅助步行工具的需求日益迫切。电动助行车是一 种以电池为能源，由电动机驱动的轮椅车。它具有操作简便、车速平稳、无污染、 低噪声等优点，适于下肢残疾和行走不便的年老体弱者使用，是一种比较理想的代 步工具。本系统设计了一款双电机驱动后轮的四轮电动助行车，座位可升降便于行 动不便的人上下车。 本系统利用双CPU设计四轮电动助行车控制器，完成了电动助行车前进、后退、 转弯等基本功能。系统硬件由主控和显示两部分组成。主控制部分由单片机Ⅰ完成。 单片机Ⅰ检测摇杆动作，通过D/A转换器输出控制信号进行电机调速，带动左右后轮 转动完成前进后退及转弯等动作；显示部分由单片机Ⅱ完成。单片机Ⅱ检测轮椅速 度、系统电量等参数，通过液晶屏12864显示当前的运行状态。E2PROM24c02用以保 存有用的参数信息，两个单片机都可对其进行读写操作。 系统软件主要完成双电机协调驱动以及设计S 曲线速度控制算法，即在加速和减 速过程中采用此算法来保证人体乘坐的舒适度。 设计了一种操作灵活的电动助行车控制器,并对其进行了实验。实验结果表明： 该系统完成了电动助行车的基本功能，具有乘坐舒适、造价低廉的特点。因此在此 平台上可进一步丰富轮椅的功能。 关键词 双电机驱动；电动助行车；液晶显示；S 曲线速度控制算法；PID控制 I 摘 要 Abstract With the society development and peoples living standard improvement, aging development in China has become a serious problem. So, for the people who are elderly or physical disability, the requirements of wheelchair or other auxiliary tools become more and more urgently. Electric-power wheelchair belongs to wheelchair driven by motor, and uses rechargeable battery as power, which has many advantages, such as easy operation, steady velocity, low pollution and noise. So it is satisfied for elder people. The system designs a quad-wheel electric-power wheelchair whose rear-wheels are driven by dual-motor, and seat can be adjusted up and down. This system is controlled by dual CPU, which is used to drive the wheels turn left, right, back and forward. The hardware platform of the system includes two parts: the main control and display module. The main control module is used to detect rocker movement, and uses D/A to control motor speed to drive rear-wheels to turn around. The display module i