The Ground-based DSPACE - Design Stairs Dual Walker Device Control System

With the society growing into aging and the number of the disabled increasing, domestic and foreign scholars pay more attention to the walking-aid device for them. China is a large country with a huge population. The demand for the walking-aid device is more significant. However, some species of the walking-aid device on the market can only meet the require-ments of walking. Although foreign walking-aid devices can climb the stairs, the consumers can not afford the high price. In order to solve this problem, this paper presents a higher cost performance walking-aid device which can both walk and climb the stairs.First of all, the system of the walking-aid device is analysised, including the following aspects:the introduction of the walking-aid device structure, the parameters analyse of the walking-aid device, the calculating of the gravity wave curve of the device climbing, and the principle analysis of the device driver control system.Seondly, the controller system of walking-aid device is modeled and simulated. The drive control system of brushless DC motor speed control system was designed based on Matlab/Simulink by modular thinking.The speed controller is designed with the PID control algorithm and the fuzzy PID control algorithm. The simulation curves of the parameters of the motor can obtain through the simulation and debugging of the system. Comparing the curves, it can be found that the fuzzy PID control algorithm is better for the motor control.Next, the semi-physical simulation platform dSPACE is introduced from two aspects, namely hardwares and softwares.Based on the dSPACE, the Simulink program of motor con-trol is programmed using the fuzzy PID controller. The Simulink program is designed in a modular fashion. After the motor control debugging, the experimental data are analysised.Finally, the performance of the walking-aid device is debugged based on the dSPACE. The debugging is carried out at different operating conditions and environments. Through the analysis of the motor speed, HALL three-phase signals, voltage signals, PWM conduction and so on, a comprehensive evaluation of the performance of the walking-aid device is getted. According to the performance evaluation, the feasibility of the walking-aid device is verified.