智能无障碍轮椅升降平台驱动系统设计  

Design of intelligent barrier⁃free wheelchair lifting platform driving system

作　　者：杜佳亮 韩飞 刘冉 李妍 李姝 DU Jialiang;HAN Fei;LIU Ran;LI Yan;LI Shu(College of Mechanical and Materials Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100144

出　　处：《现代电子技术》2023年第8期169-175,共7页Modern Electronics Technique

基　　金：“科技冬奥”国家重点研发计划项目:冬奥和冬残奥场所人员疏导技术与残障人群协助系统(2020YFF0304900)。

摘　　要：针对无障碍轮椅升降平台扶手旋转定位过程中由于非线性、时变的出现,导致扶手响应速度慢、定位精度差的问题,文中对传统比例-积分-微分控制器(PID)算法进行优化设计。首先,建立步进电机-减速器-执行机构的机电耦合系统的数学模型;其次,通过Z-N临界比例度法确定PID控制器的初始参数,利用Simulink设计一种模糊PID参数自整定控制器,与Adams进行联合仿真研究;最后,根据仿真结果对模糊控制规则进行修订,搭建智能无障碍轮椅升降平台作为试验机,利用TIA Pro进行模糊PID程序的编写和调试。结果表明:与传统控制器相比,模糊PID参数自整定控制器相超调量下降15%,响应时间减少0.6 s,在实验平台上有较好的应用效果,对无障碍轮椅升降平台的设计具有一定的参考价值。In allusion to the problems of slow response speed and poor positioning accuracy of the armrest due to the nonlinear and time⁃varying appearance in the rotation positioning process of the wheelchair lift platform,the traditional proportional⁃integral⁃differential controller(PID)algorithm is optimized.The mathematical model of the electromechanical coupling system of stepper motor⁃reducer⁃actuator is established.The initial parameters of PID controller are determined by means of Z⁃N critical proportion method.A fuzzy PID parameter self⁃tuning controller is designed by means of Simulink,and the co⁃simulation with Adams is carried out.The fuzzy control rules are revised according to the simulation results.The intelligent wheelchair lifting platform is built as the testing machine,and TIA Pro is used to compile and debug the fuzzy PID program.The results show that in comparison with the traditional controller,the phase overshoot of the fuzzy PID parameter self⁃tuning controller is reduced by 15%,and the response time is reduced by 0.6 s.It has a good application effect on the experimental platform,and has a certain reference value for the design of the wheelchair lift platform.

关 键 词：无障碍轮椅升降梯 步进电机 模糊PID参数自整定控制器 机电联合仿真 软件设计 试验分析 

分 类 号：TN876-34[电子电信—信息与通信工程] TP13[自动化与计算机技术—控制理论与控制工程]