电动轮椅控制器设计

论文编号:ZD1294  论文字数:22079,页数:48  附外文翻译，原理图

摘   要
 据调查，我国目前约有6000万残疾人，其中肢残人数约有877万。 中国60岁及以上的老年人口总数已达1.49亿，占全球老年人口的21.4％，居世界首位。使得无论是老年人还是先天或后天肢体残疾者对轮椅等辅助步行工具的需求日益迫切。电动轮椅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。
 本文综合国内外电动轮椅研发技术，选取双轮驱动结构中的中轮驱动结构轮椅作为本课题轮椅控制器的控制对象。分析了直流调速系统的工作原理，对直流电机数字化控制技术及控制策略进行了研究，给出了一套基于DSP＋单片机的主从式电动轮椅控制器设计方案，详述了其硬件和软件的实现方法。结合轮椅的运行要求，设计了以电压反馈为主，根据轮椅的安全要求，设计了包括操作杆故障检测，电机故障检测，电磁车闸故障检测，功率管故障检测等在内的各种故障检测方案及其实现方法。将功率模块和操作显示模块分离，既方便了技术人员维护，也使操作更加安全可靠。
关键字：电动轮椅控制器  双电机  DSP   单片机  

Controller design of electric wheelchairs
Abstract
 According to the survey, China is currently about 60 million people with disabilities, of which about 8.77 million the number of physically disabled. Chinese elderly aged 60 and above the total population has reached 149 million, accounting for 21.4% of the world's elderly population, ranking first in the world. Makes both the elderly or a congenital or acquired physical disabilities, wheelchair and other assisted walking increasingly urgent demand for tools. The characteristic of the electric powered wheelchair is easy-handing, stable-steering, non-pollution and low noise. It is an ideal instrument riding instead of walking for the elder and the handicapped which are inconvenience in walking. Until now, the kernel technology of the high-powered electric powered wheelchair and its controller is still in control of foreign countries.
  The test synthesized the domestic and the overseas development and the research of the electric powered wheelchair, selected the middle drive type in the two-wheel drive type of the wheelchair as the control object of the task. The thesis analyzed the working principles of the DC timing system, investigated the DC motor’s numeric control technology and the control strategy. Then the test presented a design scheme of an electric powered controller of the principal and subordinate type structure based on the DSP and MCU. It dwelled on the realization method of the hardware and the software. Combining with the wheelchair’s practice running request, it designed a dual-motor coordinated control scheme which based on voltage negative feedback, current positive feedback compensation and unbalanced load compensation. According to the safety request of the electric powered wheelchair, the test designed several schemes corresponding to several possible faults, such as Joystick fault detect, motor fault detect, brake fault detect, MOSFET fault detect, and so on, and presented the practice method. The scheme designed in the thesis separated the power module and the operating and display module of the EPW controller to let it be more stable and safety for the operators and more convenient for the engineers.
 
 
Keyword: EPW controller; dual-motor coordinated control; DSP; PIC

目 录
第一章 绪 论 1
1.1课题的来源及背景 1
1.2国内外研究现状 2
1.3研究的目的和意义 3
1.4全文主要内容与安排 3
第二章 系统总体设计 4
2.1电动轮椅的技术要求 4
2.2 控制方案的选择 5
2.3系统结构框图 6
2.4 本章小结 7
第三章 系统硬件设计 8
3.1主电路及驱动电路的设计 8
3.1.1 主电路的设计 8
3.1.2 驱动电路的设计 10
3.2 DSP控制系统及信号检测电路设计 11
3.2.1 DSP控制部分 11
3.2.2  DSP最小系统设计 12
3.2.3电机电压检测电路如图3-12所示 15
3.3 故障检测和处理电路 16
3.4 基于PIC单片机的操作杆和显示电路的设计 17
3.4.1操作和显示模块系统框图 18
3.4.2喇叭按键及扬声器电路 20
3.4.3 操纵杆信号处理和AD采样电路 21
3.4.4单片机的A/D采样电路 22
3.4.5 液晶显示器模块电路 23
3.4.6 SART的通讯模块设计 25
3.4.7控制参数的设定和修改及其硬件实现 26
3.5电源电路设计 27
3.6小结 30
第四章 系统软件设计 31
4.1 总体软件设计框架 31
4.2 A/D采样软件设计 33
4.3 液晶显示软件设计 34
4.4基于USART的通讯模块软件设计 36
4.5 控制参数的设定和修改及其软件实现 39
4.6 本章小结 40
结束语 41
致谢 42
参考文献 43