轮腿式爬楼轮椅后腿机构模糊PID控制系统  

Rear leg control system of wheeled-legged climbing wheelchair based on fuzzy-PID

作　　者：狄伟翔 曹东兴[1] 张琦 甘晓萌 DI Weixiang;CAO Dongxing;ZHANG Qi;GAN Xiaomeng(College of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院

出　　处：《传感器与微系统》2019年第11期89-92,95,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51875167);河北省自然科学基金资助项目(E2018202114)

摘　　要：为实现爬楼轮椅后腿机构的动作要求,需要一套实时控制策略。采用TMS320F2812作为核心控制芯片,设计了一种复合式模糊比例—积分—微分(PID)后腿位姿调节控制系统。首先,根据爬楼轮椅的功能需求,给出了后腿机构的动作要求,并确定出合理的传感器安装位置;然后,搭建了控制系统的硬件结构,建立了模糊PID控制系统模型,制定出控制规则,并进行了软件开发。最后,构建了基于VC++6.0的上位机监控界面,并对该控制系统进行了测试和结果分析。实验结果表明:该系统在一定程度上降低了调节过程中的超调现象和稳态误差,提高了系统响应速度。In order to realize the action requirements of the rear leg mechanism of wheelchair,a real-time control strategy should be designed.A compound fuzzy-PID control system for rear leg position and posture is designed by using TMS320F2812 as the core control chip.Firstly,according to the functional requirements of the climbing wheelchair,the action requirements of the rear leg mechanism are given,and the reasonable installation position of the sensor is determined.Then,the hardware structure of the control system is built up,the fuzzy-PID control system model is set up,the control rules are made,and the software is developed.Finally,the monitoring interface of upper PC based on VC++6.0 is constructed,and the control system is tested and analyzed.The experimental results show that the system reduces the overshoot and steady-state error in the regulation process to a certain extent,and improves the response speed.

关 键 词：爬楼轮椅 后腿机构 位姿调节 模糊比例-积分-微分 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]