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。
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.
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