The Research Of Control System On Manned Climbingstairs Wheelchair

The birth of stairs have eased the pressure that building land is becoming tense and have developed people’s utilization of space. However, under the circumstance that most six or seven stories residential buildings were not installed elevators, walking up and down stairs has become a big barrier to old people and the disabled who need to move by wheelchair. At the same time, stairs also bring inconvenience to the process of transporting emergency patients. Rescuing patients need to make full use of every minute. More time on way means less time on rescue for doctors.The objective of the research project is to devise a control system, which includes hardware circuit, movement algorithm, and software programming. The control system can achieve the function of climbing stairs under people’s assistance. For the real situation, the control system of the wheelchair need to be safe, reliable, user-friendly, and the control devices of the wheelchair need to be light to reduce weight of the wheel chair. In view of the above situation, PMAC( Programmable Multi-Axis Controller) is used as the controller of the wheelchair. This kind of controller is a board which can store and operate programs independently. It can run programs which had stored inside to operate actuator independently, thus it can save a lot of space comparing with using IPC(Industrial Personal Computer). There is highly universality to establish open control system through it. This controller is connected with BLDCM(Brushless Direct Current Motor), servo amplifier and some other devices. Rotary motion of servo motor drives the actuator move and then a closed loop control system has been founded.The hardware selection and hardware system establishment are introduced in detail in this paper. The control algorithm of the system is emphatically analyzed, and then the motion programs are written according to the control algorithm. Motion control, dynamic analysis, closed loop control and some other functions have been realized. The whole control system could meet the requirements such as safe, reliable, user-friendly control, light control devices and so on.