爬楼轮椅座椅机构模糊PID控制策略研究  

Research on Fuzzy PID Control Strategy of Stair Climbing Wheelchair Seat Mechanism

作　　者：李亚林 曹东兴[1] LI Yalin;CAO Dongxing(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,天津300130

出　　处：《机械工程师》2020年第8期36-40,共5页Mechanical Engineer

基　　金：国家自然科学基金(51275152)。

摘　　要：为了实现爬楼轮椅座椅机构的功能要求,在上位机做算法设计了一套模糊PID座椅机构位姿调节控制系统,可以实时地监控座椅完成预设定的动作。根据爬楼轮椅的功能需求,制定出了座椅机构的动作要求;确定了传感器的安装位置;搭建了控制系统的硬件结构并且设计了人机交互界面;基于VC++6.0进行了软件开发并建立了模糊PID控制系统模型,制定控制规则,并对该控制系统进行了试验。实验结果表明:该控制器算法简单、稳定精度高,解决了系统响应快速平稳性和高稳定精度之间的矛盾。As an important part of the climbing wheelchair,the climbing chair mechanism guarantees the safety and comfort of the users during the climbing process.In order to achieve the functional requirements of the seat mechanism,this scheme designs a set of fuzzy PID seat mechanism position and posture adjustment control system based on the upper computer algorithm,which can monitor the seat in real time to successfully complete the pre-set action.According to the functional requirements of the climbing wheelchair,the movement requirements of the seat mechanism are formulated.The installation position of the sensor is determined.The hardware structure of the control system is built and the man-machine interface is designed.Based on VC++6.0,the software is developed and the fuzzy PID control system model is established.The experimental results show that the algorithm is simple,the stability precision is high,and the contradiction between fast response and high stability precision is solved.

关 键 词：爬楼轮椅 座椅机构 上位机 模糊PID控制 位姿调节 

分 类 号：TH122[机械工程—机械设计及理论]