电动轮椅椅面平衡控制系统设计  

Battery-Powered Wheelchair Balance Control System Design

作　　者：张邦成[1] 王华振[1] 王占礼[1] 郭化超[1] 刘铁军[2] 

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]空军航空大学,吉林长春130012

出　　处：《机械设计与制造》2013年第9期210-212,216,共4页Machinery Design & Manufacture

基　　金：国家863计划资助项目(2008AA040205)

摘　　要：为了调整电动轮椅椅面因上坡和下坡时由于重力造成的椅面倾斜,提高乘坐的舒适度,设计开发了轮椅椅面平衡控制系统和椅面平衡调整机构。基于ATmega16系列单片机,三轴加速度传感器MMA7361芯片,设计了单片机及传感器的外围电路、步进电机驱动电路和电源电路,实现了对轮椅椅面的实时检测与控制。系统具有信号调理功能,防震能力强,能够快速检测椅面的倾斜角度,具有高灵敏度。实验结果表明,设计开发的电动轮椅平衡控制系统的角度误差δ<1°,响应时间t<1s,性能参数均符合电动轮椅使用标准,达到使用要求。In order to adjust the pitch attitude caused by gravity during down and forward climbing and improve comfortable degree for users, it designs balancing control system and adjusting mechanism of battery-powered wheelchair surface. The real-time detection and control system includes peripheral driving circuit of SCM and transducer, driving circuit of steeping motor and power circuit, based on microcontroller ATmegal6 and tri--axis accelerometer MMA7361. Its process performance enables keeping wheelchair surface in level state in any case. The capacity of siganl pracessing and shake-proof property makes it has high sensitivity to ensure stability on stairs. The experimental results show that the angle error isδ〈1°, the response time ist〈1s. Performance parameters all meet the usage criteria of battery-powered wheelchair and the design requirements.

关 键 词：加速度传感器 单片机 驱动模块 步进电机 

分 类 号：TH16[机械工程—机械制造及自动化]