电动轮椅控制系统设计-机械工程专业论文.docxVIP

河北工业大学硕士学位论文 河北工业大学硕士学位论文 电动轮椅控制系统设计 电动轮椅控制系统设计 i i PAGE PAGE iv 电动轮椅控制系统设计 摘 要 随着社会的发展、科技的进步，我国人口老龄化问题日益严重，因交通事故而成为残 疾的人数也越来越多。人民生活水平的不断提高，使得无论是老年人还是残疾人对生活质 量以及相关辅助设施提出了更高的要求。电动轮椅是一种以蓄电池为能源，由电动机驱动、 操纵杆控制的轮椅车，它具有易于操作、运行平稳、无污染、噪声低的特点，对于下肢残 疾者或者行走不便的年老体弱者来说是一种非常理想的辅助工具。本文主要对低成本高性 能电动轮椅控制系统进行研究。主要研究内容包括以下几点： （1）综合国内外的先进电动轮椅控制技术，采用前轮驱动结构，分析了直流电机的 驱动原理，对直流电机的控制技术及控制策略进行了研究，设计开发了一套基于单片机的 电动轮椅控制系统，详细论述了其硬件和软件的实现方法。 （2）结合电动轮椅的功能和运动要求，设计了硬件电路及编写了基于单片机的 AD 采 样、故障检测程序、电机 PWM 调速程序、单片机窜口通信程序及液晶显示程序等，针对 轮椅操纵杆的信号获取和处理特点，提出类似抛物线速度处理方法，避免了轮椅运行过程 中的速度突变，实现了轮椅的平稳变速，保证了乘坐者的舒适性。 （3）采用单片机串口通信技术实现了双单片机通信，将轮椅运行状态信息及时写入 液晶显示器进行显示，实时显示轮椅的运行状态，方便用户对轮椅进行操作。 电动轮椅运行实验结果验证了本课题设计的可行性，达到了设计的初衷。 关键词：电动轮椅控制器，液晶显示，串口通讯，故障检测 THE CONTROL SYSTEM DESIGN OF ELECTRIC WHEELCHAIR ABSTRACT With the social development and technological progress, Chinas aging problem is becoming more and more serious, and the number of people with disabilities is growing quickly because of traffic accidents. While Peoples living standards is improving, elderly or disabled people increasingly urgent demand for electric wheelchairs or other assistive devices . The electric wheelchair is a kind of vehicle which is powered by battery, drove by motor and controlled by joystick. The advantages of the electric wheelchair is easy-handling, running smoothly, non-pollution and low noise etc. It is an very ideal means of transport for lower limb disabilities and elderly man difficulty in walking . This paper aims to study the low-cost, high-performance electric wheelchair control system.The main research contents are represented as follows: This paper synthesizes domestic and foreign advanced electric wheelchair control technology . select the front-wheel drive type in the two-wheel drive type of the wheelchair. The thesis analyzes the DC motor driving principle, investigates the DC motor’s control technology and the control strategy. Then the test presents a design scheme of an electric wheelchair controller based on PIC MCU,and di