多姿态电动轮椅控制器的设计和测试

doi:10.3969/j.issn.1006-9771.2018.05.022

《中国康复理论与实践》 ›› 2018, Vol. 24 ›› Issue (5): 604-609.doi: 10.3969/j.issn.1006-9771.2018.05.022

多姿态电动轮椅控制器的设计和测试

单新颖^1,2,3, 陈伟^1,3, 闫和平^1,3

1.国家康复辅具研究中心,北京市 100176;
2.北京航空航天大学生物医学工程学院,北京市 100191;
3.北京市老年功能障碍康复辅助技术重点实验室,北京市 100176

收稿日期:2017-08-29 修回日期:2018-02-13 出版日期:2018-05-25 发布日期:2018-05-24
通讯作者: 闫和平。E-mail: yanheping@nrcrta.cn
作者简介:单新颖(1983-),男,汉族,江西修水县人,博士研究生,主要研究方向：生物与医学工程、康复辅具。通讯作者：闫和平(1959-),女,(教授级)高级工程师,主要研究方向：康复辅具。
基金资助:
1.北京市青年骨干人才项目(No. 2016000026825G306); 2.北京市科技计划课题(No. Z161100001016013); 3.国家高技术研究发展计划(863计划) (No. 2015AA042304)

A Multi-pose Electrically Powered Wheelchair Controller: Design and Test

SHAN Xin-ying^1,2,3, CHEN Wei^1,3, YAN He-ping^1,3

1. National Research Center for Rehabilitation Technical Aids, Beijing 100176, China;
2. School of Biomedical Science and Medical Engineering, Beihang University, Beijing 100191, China;
3. Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age Disability, Beijing 100176, China

Received:2017-08-29 Revised:2018-02-13 Published:2018-05-25 Online:2018-05-24
Contact: YAN He-ping. E-mail: yanheping@nrcrta.cn
Supported by:
Supported by　Beijing Excellent Professional Program (Youth) (No. 2016000026825G306), Beijing Science and Technology Program (No. Z161100001016013) and National High Technology Research and Development Program of China (863 Program) (No. 2015AA042304)

摘要/Abstract

摘要： 目的设计一款电动轮椅控制驱动系统,具有更好的交互性、智能性、操控性和舒适性,以解决电动轮椅的移动助行和姿态调整问题。方法采用双STMicroelectronics 32位控制器(STM32),摇杆操控方向和速度,控制器局域网络(CAN)总线通信模式,智能控制算法,输出脉冲宽度调制驱动H桥,实现电机差速运转。结果经Vicon运动捕捉系统模拟仿真,位移、速度和加速度符合设计初衷。结论设计开发的控制器满足多姿态电动轮椅功能。

关键词: 多姿态电动轮椅, STM32, H桥, Vicon

Abstract: Objective To develop an electrically powered wheelchair driving system with better interactivity, intelligence, controllability and comfortableness, to improve mobility and posture adjustment of electrically powered wheelchair. Methods An electrically powered wheelchair system was constisted of double STMicroelectronics 32 controller (STM32), a joystick controlling the speed and direction, Controller Area Network (CAN) bus communication mode, the intelligent control algorithm, the pulse width modulation (PWM) driver H-Bridge, and the motor differential operation. Results The position, velocity and acceleration of the electrically powered wheelchair met the desired requirements based on the Vicon simulation.Conclusion The controller well meets the requirements of multi-pose electrically powered wheelchair.

Key words: multi-pose electrically powered wheelchair, STM32, H-Bridge, Vicon

中图分类号:

R496

单新颖, 陈伟, 闫和平. 多姿态电动轮椅控制器的设计和测试[J]. 《中国康复理论与实践》, 2018, 24(5): 604-609.

SHAN Xin-ying, CHEN Wei, YAN He-ping. A Multi-pose Electrically Powered Wheelchair Controller: Design and Test[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2018, 24(5): 604-609.

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多姿态电动轮椅控制器的设计和测试

A Multi-pose Electrically Powered Wheelchair Controller: Design and Test

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