电动轮椅车控制器设计的研究  

Studies on Design of Controller for Electric Powered Wheelchair

作　　者：王贵兰[1] 

机构地区：[1]邢台职业技术学院电气工程系,河北邢台054035

出　　处：《邢台职业技术学院学报》2008年第5期72-75,102,共5页Journal of Xingtai Polytechnic College

摘　　要：本文介绍了电动轮椅车控制器的设计和执行。控制结构包含两层,即轮椅姿势和轮椅速度的控制。在高层的控制结构中,姿势控制器是作为两个轮子参考速度发生器工作的。操纵杆界面和姿势控制器都处在8位微控制器中。在低层的控制结构中,速度控制器执行各个方位的操作。驱动系统采用的是三相转化模块和基于DSP的电动机控制器。控制系统的性能经过仿真验证是良好的。That design and implementation of motor controller for wheelchair is introduced. The structure of control layer consists of posture and velocity control of wheelchair. In the higher level of control structure, posture controller works as reference velocity generator for two wheels. Joystick interface and posture controller are in 8-bit microcontroUer. In the lower level of control structure, velocity controller performs four quadrant operations. Three-phase convert module and motor controller based on DSP are adopted as driving system. It justified that the performance of control system is good.

关 键 词：电动轮椅车 控制器 速度控制 电流控制 姿势控制 

分 类 号：TH134[机械工程—机械制造及自动化]