電動輪椅控制器設計

論文編號:ZD1294  論文字數:22079,頁數:48  附外文翻譯，原理圖

摘   要
 據調查，我國目前約有6000萬殘疾人，其中肢殘人數約有877萬。 中國60歲及以上的老年人口總數已達1.49億，占全球老年人口的21.4％，居世界首位。使得無論是老年人還是先天或后天肢體殘疾者對輪椅等輔助步行工具的需求日益迫切。電動輪椅是一種以電池為能源，由電動機驅動的輪椅車。它具有操作簡便、車速平穩、無污染、低噪聲等優點，適于下肢殘疾和行走不便的年老體弱者使用，是一種比較理想的代步工具。
 本文綜合國內外電動輪椅研發技術，選取雙輪驅動結構中的中輪驅動結構輪椅作為本課題輪椅控制器的控制對象。分析了直流調速系統的工作原理，對直流電機數字化控制技術及控制策略進行了研究，給出了一套基于DSP＋單片機的主從式電動輪椅控制器設計方案，詳述了其硬件和軟件的實現方法。結合輪椅的運行要求，設計了以電壓反饋為主，根據輪椅的安全要求，設計了包括操作桿故障檢測，電機故障檢測，電磁車閘故障檢測，功率管故障檢測等在內的各種故障檢測方案及其實現方法。將功率模塊和操作顯示模塊分離，既方便了技術人員維護，也使操作更加安全可靠。
關鍵字：電動輪椅控制器  雙電機  DSP   單片機  

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 錄
第一章 緒 論 1
1.1課題的來源及背景 1
1.2國內外研究現狀 2
1.3研究的目的和意義 3
1.4全文主要內容與安排 3
第二章 系統總體設計 4
2.1電動輪椅的技術要求 4
2.2 控制方案的選擇 5
2.3系統結構框圖 6
2.4 本章小結 7
第三章 系統硬件設計 8
3.1主電路及驅動電路的設計 8
3.1.1 主電路的設計 8
3.1.2 驅動電路的設計 10
3.2 DSP控制系統及信號檢測電路設計 11
3.2.1 DSP控制部分 11
3.2.2  DSP最小系統設計 12
3.2.3電機電壓檢測電路如圖3-12所示 15
3.3 故障檢測和處理電路 16
3.4 基于PIC單片機的操作桿和顯示電路的設計 17
3.4.1操作和顯示模塊系統框圖 18
3.4.2喇叭按鍵及揚聲器電路 20
3.4.3 操縱桿信號處理和AD采樣電路 21
3.4.4單片機的A/D采樣電路 22
3.4.5 液晶顯示器模塊電路 23
3.4.6 SART的通訊模塊設計 25
3.4.7控制參數的設定和修改及其硬件實現 26
3.5電源電路設計 27
3.6小結 30
第四章 系統軟件設計 31
4.1 總體軟件設計框架 31
4.2 A/D采樣軟件設計 33
4.3 液晶顯示軟件設計 34
4.4基于USART的通訊模塊軟件設計 36
4.5 控制參數的設定和修改及其軟件實現 39
4.6 本章小結 40
結束語 41
致謝 42
參考文獻 43