【作者】 王超；

【导师】 曹东兴；

【作者基本信息】 河北工业大学 ， 仪器科学与技术， 2017， 硕士

【摘要】 目前,随着我国老龄化趋势加快,老年人及残疾人走出家庭融入社会以丰富他/她们的生活,轮椅是其理想的代步工具。然而普通轮椅不具备爬楼和越障的功能,许多商场和居民楼又没有无障碍通道,面对台阶和楼梯时只能望而却步,不能增加使用者的活动范围。为了让他/她们出行更加方便,充分享受社会的温暖,本课题设计了一种轮腿式电动爬楼轮椅,该轮椅具有爬楼越障功能,对提高腿脚不便者的活动能力具有重要的应用价值。本论文针对课题的电机控制系统进行研究。首先从电机控制的角度出发,选择TMS320F2812型号的DSP芯片作为核心处理器,充分利用其丰富的片上资源和快速处理数据的能力,结合VC搭建上位机显示控制界面,提出了一套爬楼轮椅电机控制系统设计方案。本系统主要实现:控制手柄操纵轮椅运动,调节脚踏板高度和调节后腿位姿三大功能。其次对电机的传动进行分析,确定执行机构动作,确定控制系统设计方案。对控制系统资源进行分配,设计硬件电路,为软件设计打下良好基础。根据执行机构动作要求进行软件设计,确立了基于S曲线控制算法的手柄操纵模块、脚踏板升降模块和后腿位姿调节模块三大执行模块程序。使用RS232通信方式将传感器和电机速度等参数上传,在上位机实时显示,并通过上位机发送指令,控制执行机构动作。最后在爬楼轮椅实物平台上进行测试,能够准确控制各执行机构的动作,上位机实时显示传感器等重要参数,并利用DSP编译软件输出重要参数变化曲线,分析总结执行机构动作变化规律。更多还原

【Abstract】 Currently,with acceleration of China’s population aging,wheelchair has become an ideal tool for old and disabled people to go outside to enjoy their lives.However,ordinary wheelchairs don’t have climbing-stair and obstacle-crossing functions.As many malls and residential buildings don’t provide barrier-free paths,users of these wheelchairs can only stop in front of steps and stairs helplessly.This significantly limits their motion range.In order to facilitate their travel and allow them to fully enjoy kindness from society,a wheel-legged electronic climbing-stair wheelchair was designed.It has stair-climbing and obstacle-crossing functions to improve old and disabled people’s motion ability.At first,with respect to the motor control,TMS320F2812 DSP chip from Texas Instruments Inc.was adopted as the core processor.Then,through making full use of its rich resources and fast data processing ability coupled with a VC-based upper computer to display the control UI,a climbing-stair wheelchair motor control system was designed.It enables 3 major functions: joystick control of wheelchair motion,adjustment of treadle height,and adjustment of wheelchair rear leg pose.Secondly,analysis of the motor drive system was carried out to determine actuator motions,so as to propose the control system design solution.Then,the resources of control system were assigned to design the hardware circuit,laying a good foundation for software design.Finally,software design was carried out according to the requirements on actuator motions,to determine three executive modules: S-curve control algorithm-based joystick control module,treadle lifting module,rear leg pose adjustment module.The RS232 communication method was used to upload parameters such as sensor parameters for displaying on upper computer,which could send instructions to control actuator motions.At last,the climbing-stair wheelchair was tested on a physical platform.The results showed that it could precisely control the motions of each actuator.The upper computer could display important parameters from sensors in a real-time manner.Then,the DSP compile software was used to output the change curve of important parameters,so as to summarize the change law of actuator motions.更多还原