The Ground Motion Controller Research Of Electric Stair Climbing Wheelchair

Along with the development of society and the progressing of science and technology,electric wheelchair, a kind of assistance tool which is developed for the disabled and elderlyaids, appeared with the tide of the times. Compared with traditional wheel chair, electricwheelchair provides convenience to the people who had behavior obstacle, with which thecustomer can operate by himself, not need to be taking care of. Currently, electricwheelchair is already relatively mature abroad, but the core technology of controller haslong been imported from abroad, which makes the price of electric wheelchair to be higher.So in order to reduce the cost of electric wheelchair, the most effective way is developing akind of electric wheelchair controller by ourselves, which is the urgent problem fordomestic researchers.The article is mainly around the design of electric wheelchair controller. Firstly, itdescribes the phylogeny and the domestic and foreign research status of wheelchairs. Bydrawing on the advanced control technology of the world, the paper designed a completecontrol system of electric wheelchair, using PIC16F877A microcontroller and based on thefunction and exercise requirements of electric wheelchairs. Secondly, it has designed thevarious functional modules of the controller, including power management and LCDmodules, PWM control of DC motor based on PID algorithm and detection module, signalprocessing of joystick and external aided design modules, USART asynchronouscommunication modules etc. Then according to the reliability requirements of controller,we also designed the sleep and latch mode of controllers, the fault detection module ofjoystick and power source. Finally, in order to facilitate maintenance, T6963C controller isthe core to LCD module, which is designed for a man-machine interactive interface. By thetechnology of PIC16F877A microcontroller serial asynchronous communication, theoperating status information of wheelchair can be displayed in the LCD. It is convenient forusers to initialize parameter settings and take emergency measures.By conducting the experiment of prototype and analyzing the results, we verified thefeasibility of this project design, which proved that we had achieved the desired purpose.