电动轮椅运动控系统设计.pdf

摘 要 电动轮椅是一种以蓄电池为能源、电机驱动的轮椅车。具有省力、操作简便、 车速平稳、无污染和低噪音的特点。适于下肢残疾、高位截瘫或偏瘫以及年老体弱 者使用，是一种比较理想的移动或代步工具。 目前，国外对电动轮椅的研究已相对比较成熟。他们已开发出各种各样的适合 不同用户群体的电动轮椅，并逐渐向智能化的方向发展。现在高性能电动轮椅生产 厂家多集中在美国、德国、澳大利亚和西班牙，中国台湾也有电动轮椅生产厂家。 然而，国内对电动轮椅的研究技术依然远远落后于国外，绝大多数轮椅厂家都只生 产电机和座椅而不生产控制器，基本上都依赖于进口。因此，研究高性能低成本的 电动轮椅驱动器，替代进口填补国内技术空白具有重要意义。 作者广泛查阅国内外文献，总结了电动轮椅研究技术，综述了电动轮椅国内外 研究现状。开发出了基于TMS320LF2406A DSP 数字信号处理器的全数字电动轮椅 控制器，分析了轮椅的技术要求，设计了带电流补偿的电压负反馈加负载不平衡补 偿的双电机协调控制方案；给出了软硬件结构和单元电路的设计及参数选择方法； 分析了操纵杆工作原理给出了轮椅速度和运动方向信息合成计算公式，和提高运行 舒适度的 S 曲线生成策略。文中还提出了基于电压信号检测的功率管及主电路故障 检测、定位方法。 分析设计的系统通过系统运行实验性能良好，达到了预期设计目标。 关键词：电动轮椅控制器 双电机协调控制 S 曲线 故障检测 I Abstract Electric powered wheelchair (EPW) is a wheeled vehicle which takes storage battery as power and motor as driving with characteristics of labor saving, easy operation, stable speed, free-pollution and low noise. It very benefits for the people with lower or upper extremely impairment, the old or the valetudinarians. To these people, EPW is their primary and ideal means of mobility. Currently, some overseas countries they are very experienced in researching EPWs. They have developed various kinds of EPWs for sorts of special user group. EPW is becoming more intelligent and tending to be humanization gradually. Now most of the high performance EPW plants they are located in developed countries, such as America, Australia, Germany, Spain and also Taiwan province of China. In addition, domestic research on EPWs techniques falls behind the one of overseas a lot. Mainly most of the national EPWs plants produce DC motor and wheelchair seat only, while controller is imported. Accordingly, it is very significant to develop high performance