Research On Drive & Control System Of Intelligent Impediment-crossing & Stair-climbing Electric Wheelchair On DSP&ARM ARM

Impediment-crossing and Stair-climbing wheelchair is a kind of battery-powered,manned up and down stairs functions accessible equipment, it is not only a means of transport and rehabilitation of an important tool for physically handicapped persons,more importantly, enable them by means of a wheelchair daily life in physical exercise and participate in social activities to promote their physical and mental health.This paper analyzes the current research situation on climbing stairs wheelchair,according to GB 12296 electric wheelchairs national standards and the specific safety requirements to set the motion parameters for stair-climbing wheelchair,then draw the simplified model of IBOT stair-climbing agency, finally determined using double planetary gear mechanism to design the overall program. This paper analyzes the principle of double planetary gear mechanism for stair-climbing, and calculate the overall size of the system and the using power through the dynamic model. For reasons of security when climbing the stairs, we introduce the concept of resistance turning over energy margin to discuss security conditions when climbing stairs.This paper studies the balance control system of stair-climbing wheelchair. Using a seat reclining mechanism which combines mechanical with electronic.This mechanism can adjust automatically. Details the way to detect the seat angle by triaxial gravitational acceleration sensor, and the method to design and construction the peripheral circuit module, completed a relatively simple and cheap wheelchair drive balance control system.Paper completed the structures of the hardware platform for smart climbing stairs wheelchair drive control system. The hardware platform uses STM32 microprocessor as the main chip, with US Texas Instruments DSP TMS320F2812 dedicated digital signal processing chip, we can achieve the attitude of the wheelchair movement, speed, etc.parameters by ARM + DSP processing architecture in efficient real-time and make responds. Details of the circuit design of the functional modules, including power circuit design, reset circuit design, clock circuit design and CAN bus communication circuit design.This paper introduces the multi-sensor data fusion technology and intelligent interactive systems.Research on the ranging module by fuzzy inference principle based on multi-sensor data fusion method. The intelligent interactive systems developed fast,there are kinds of systems currently, this paper studied the interactive technology based on facial surface EMG signals and breathing control techniques.Finally we designed the Hall handle, the processing algorithms of handle signal and the control circuit.In this paper, according to stair-wheelchair design requirements, mechanical principles and control requirements, it is completed the drive control system research and development based on ARM + DSP technology, also the simulation analysis. The results of this system are stable, reliable, we achieve the expected goal setting, and this system has a broad application prospects.