爬楼轮椅前腿的轨迹规划及控制策略研究  

Research on trajectory planning and control strategy of front leg of climbing wheelchair

作　　者：贾利想 曹东兴[1] 鲁建军 范柳彬 李灿 JIA Lixiang;CAO Dongxing;LU Jianjun;FAN Liubin;LI Can(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院

出　　处：《河北工业大学学报》2019年第3期7-12,共6页Journal of Hebei University of Technology

基　　金：国家自然科学基金(51275152)

摘　　要：爬楼轮椅的爬楼控制是研究的重点,而前腿是实现爬楼的重要辅助机构,为了准确稳定地控制前腿的运动,文章建立了前腿的末端位置方程,并计算其工作空间,在工作空间内对其进行轨迹规划并求末端位置方程的逆解,得到前腿的控制量。然后设计前腿控制系统,计算系统各部分的参数,设计一种模糊控制算法控制前腿按规划的轨迹运动。把前腿的运行数据通过传感器测量下来并通过串口通信传递到上位PC机,上位机对数据进行处理,分框显示在上位机界面上,并根据已有数据,通过VC++6.0的绘图功能,把前腿爬楼的过程动态的绘制在上位机界面上。通过实验可知,本控制方法可以控制前腿按规划的轨迹运动。The control of stair climbing wheelchair is the focus of the study,and the the front leg is an important auxilia.ry mechanism to realize stair climbing.In order to control the movement of the forelegs accurately and steadily,this pa.per established the end position equation of the front leg,and calculated the working space in which the trajectory plan.ning was used to get the inverse solution for the terminal position equation and the control quantity of the front leg was ob.tained;then the front leg control system was designed,and the parameters of each part of the system were calculated to work out a fuzzy control algorithm to control the front leg to move according to the planned trajectory.The operation data of the front leg was measured by sensors and transmitted to the host PC through serial communication.The host computer processed the data,and displayed it on the upper computer interface.According to the existing data,the front leg climb.ing process was dynamically drawn on the PC interface through the VC++6.0 drawing function.The experiment shows that this control method can control the movement of the front leg according to the planned trajectory.

关 键 词：爬楼轮椅 轨迹规划 模糊控制 上位机显示 动态绘图 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]