基于模糊PID的爬楼轮椅后腿摆轮机构同步控制策略  

Synchronous control strategy of rear leg balance wheel mechanism of wheel-climbing wheelchair based on fuzzy PID

作　　者：张谷玉 曹东兴[1] ZHANG Guyu;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：《传感器与微系统》2022年第4期60-63,76,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：后腿是爬楼轮椅的主要执行机构,对轮椅的攀爬、助推及越障起着重要作用,而摆轮作为后腿的重要机构,在轮椅攀爬楼梯时能够改变后腿的助力方向,从而实现轮椅爬楼过程的最大推力,为此设计了模糊比例-积分-微分(PID)摆轮同步位姿调节控制系统。首先,根据爬楼轮椅的功能要求,确定传感器合理的安装位置;其次,搭建控制系统的硬件结构,建立模糊PID同步控制系统模型,制定控制规则,并进行软件开发;最后,对该控制系统进行测试和结果分析。实验结果表明:所提控制系统相较于传统PID控制策略和单一模糊控制策略降低了调节过程中的超调现象和同步稳态误差。The hind leg is the main executive mechanism of the wheelchair for climbing stairs,and plays an important role in the climbing,boosting and obstacle crossing of the wheelchair,and the balance wheel as an important mechanism for the hind legs can change the assistance direction of the hind legs when the wheelchair climbs the stairs,so as to achieve the maximum thrust in the wheelchair during the climbing process,for this purpose,a fuzzy proportional-integral-differential(PID)balance wheel synchronous position and attitude adjustment control system is designed.Firstly,according to the functional requirements of the wheelchair for climbing stairs,a reasonable sensor installation position is determined.Then,the hardware structure of the control system is built,a fuzzy PID synchronous control system model is established,control rule is made,and software development is carried out.Finally,The control system is tested and the results are analyzed.The experimental results show that the control system reduces the overshoot phenomenon and synchronization steady-state error in the adjustment process compared with the traditional PID control strategy and a single fuzzy control strategy.

关 键 词：爬楼轮椅 摆轮机构 同步控制 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] TP212[自动化与计算机技术—控制科学与工程]