新型电动轮椅差速转向驱动控制器设计与试验  

Design and Experiment on a Driving Controller Used for Differential Steering of Power Wheelchair

作　　者：舒红宇[1] 许永亮[1] 尹亮[1] 廖达平[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030

出　　处：《微计算机信息》2010年第28期26-28,共3页Control & Automation

基　　金：基金申请人:舒红宇;项目名称:新型电动代步车电子控制器的研究开发;基金颁发部门:重庆市科学技术委员会(CSTC2009AC6051)

摘　　要：为实现新型电动轮椅的差速转向和驱动控制,建立了电动轮椅差速转向运动模型,并根据模型进行了其运动仿真和PID控制参数确定,在此基础上设计开发出一种基于dsPIC30F的电动轮椅电机控制器,同时提出了一种通过检测换向电流脉动来实现电机测速的新方法。通过实际的硬件电路设计和软件开发以及试验,证明该控制器能够通过实时监测并控制电动轮椅左右车轮的转速及转速差实现其转向和驱动。In order to achieve differential steering and driving control of new-generation power wheelchair,a motor controller based on dsPIC30F was developed in accordance with the established model of differential steering and the kinematics simulation for determining PID parameters was conducted.Simultaneously,a new method of obtaining motor speed by detecting commutating current ripple was proposed.The function of driving and steering of controller on the basis of test and development of the hardware and software was implemented through real-time controlling the speed of right or left wheel and the corresponding speed difference.

关 键 词：电动轮椅 直流电机 驱动控制器 差速转向 转速测量 

分 类 号：U469.72[机械工程—车辆工程]