电动轮椅运动控制系统设计  

Electric-powered Wheelchair Kinetic Control System Design

作　　者：马小珍 万淑芸 

机构地区：[1]银川供电局保护自动化所,银川750011

出　　处：《微电机》2009年第1期55-58,共4页Micromotors

摘　　要：为实现高性能和低成本的电动轮椅,开发了全数字电动轮椅控制器;采用先进的无速度传感器测速技术,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。轮椅样机运行试验证明,系统运行实验性能良好,达到了预期设计目标。In order to present a high performance,low cost and all-digital electric powered wheelchair(EPW),an all-digital EPW controller based on TMS320LF2406A digital signal processor(DSP)was developed in the paper.Advanced velocity detective technique without speed sensor was employed.A two-motor coordinated control scheme which took motor voltage as negative feedback with motor current compensation and unbalanced load compensation was designed in the thesis.Firmware architecture,cell circuits and parameter prefere...

关 键 词：电动轮椅 控制器 双电机 协调控制 S曲线 误差检测 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]