Design Of Intelligent Wheelchair Controller Based On STM32

With the progress of scientific and technological civilization,human health has also improved.With the people's average life expectancy is extended,many people aging problem is increasingly apparent.Many people become disabled because of old age,they need wheelchair to help them return to normal daily life.In the absence of care,ordinary hand wheelchair is not suitable for the elderly for long-distance travel,so the development of electric intelligent wheelchair is very important.Electric intelligent wheelchairs in the market usually use ordinary dc motors as actuators,but the brushless motor has the advantages of high efficiency,long life,electromagnetic interference and small structure,etc.compared to ordinary dc motor,so developing an electric wheelchair with brushless dc motor is very important.The electric wheelchair is intended for long-distance travel for people with reduced mobility.The guardian is not always able to follow the care,so the exact location of the wheelchair is very important for the guardian.It is best for the guardian to obtain the wheelchair's location without any operation of the wheelchair user.The main contents of this paper are as follows:(1)A controller is designed for two brushless dc motors for the intelligent wheelchair,it can drive two motors at the same time and let the intelligent wheelchair achieve the basic driving function.The control method of the motor is integrated into the single chip controller instead of using the ready-made brushless motor control module The design of the control drive includes hardware design and software development,the detailed instructions are provided for the modules involved in the specific motor drive hardware circuit.(2)After the basic driving function is implemented,it add a location and communication function to the intelligent wheelchair controller,then the remote guardians can understand the location of the wheelchair user through a simple mobile phone.This article introduces the selection of location and communication modules,the design of hardware circuit and the process of the location communication driver.(3)The guardian can get the latitude and longitude information of the wheelchairthrough the cell phone and wheelchair controller.In order to make it easier for the guardian to obtain and see the location of the wheelchair user without redundance operations,this article has designed an application interface on the android platform.The guardian can access a wheelchair location on the interface,then jump to the embedded map and see the location.This article would introduce the software in detail.(4)This paper studies the speed control method of wheelchair,the control of the wheelchair speed is equivalent to the control of the motor speed in a way.Firstly,the structure and working principle of brushless dc motor are analyzed,and the mathematical model is established on this basis.In the control of motor speed,the PI control method of PID control method is used in industry.The improved fuzzy PI parameter self-integral control method is proposed,then use the Matlab/Simulink software to simulate its speed tracking performance.Finally,the traditional PI and fuzzy PI parameters are applied to the wheelchair controller by using C program,and then do experiments with the wheelchair,then compare the control performance of two control methods to get the more suitable one for the wheelchair speed control.