A Plains - Stairs Dual-use Walkers Device Design And Control System Research

At present, the society has begun to enter into aging. The population ratio of old people is increasing quickly in most of countries. At the same time, because of natural disasters and man-made accidents occurring frequently, the number of the disabled has also improved. The majority of the elderly and handicapped people choose the wheelchair as a means of transport. While traditional manual wheelchairs and even powered wheelchairs do not have the capability to climb stairs, users can't go upstairs or downstairs. The climbing wheelchairs appeared in the market are expensive, not suitable for domestic families. A new climbing-wheelchair is presented in this paper to improve the quality of the life of the elderly and the disabled, making them have more space and freedom. This new climbing-wheelchair relies on the unique climbing mechanisms to climb stairs.There is a kind of semi-automatic structure being given in this paper. First, according to its function, the power and torque is calculated. With choosing the right motors and battery, the layout of the climbing device is finished. According to power transmission requirements, the mechanical structure is designed. The mechanical transmission model is built. Through analyzing the gravity wave curve of the device climbing, the advantage of the device is checked.Then according to the BLDC motor, which has been selected, the motor model is established. And building simulation of BLDC motor and double close-loop regulation control is finished in the Matlab/Simulink to lay the foundation of the software design.While the climbing-device is climbing stairs, the right and left motor in the device should have the same speed, or the device will fall down from the stairs. For working out this problem, several synchronization coordinated control algorithms are studied. Using fuzzy PID and the PID switch control, the two motor synchronization coordination control with interference is realized in this paper.Finally, based on BLDC motor simulation, the software design of BLDC motor drive and double close-loop controller is finished. The software design uses modular design method, with DSP chip TMS320F2812.