| Aging population of our country is more and more,and there are many lower limb disabilities due to traffic accidents,work injuries and other causes.Now,there are still many multi-storey buildings which have no elevators in cities of our country.And most electric wheelchairs can’t climb stairs.Based on this,the design of a walking device’s control system is given,and the speed control of its climbing floor drive motor is studied deeply.In this article,the mechanical structure,principle and climbing process of the walking device are introduced.The overall control scheme of the system is designed,and the sensors required by the system are selected.In order to ensure stability of the walking device’s climbing process and comfort of the occupants,the speed given curve of the walking device’s climbing floor drive motor is designed.Aiming at the problem that there are many uncertainties in the climbing process and the poor control effect of the conventional control strategy,the climbing drive system’s mathematic model of the walking device is established,and a double closed-loop control system whose speed loop adopts fuzzy PID control and current loop adopts PI control is designed.At the same time,the simulation model is built and simulation experiment is carried out.The simulation results show that the method used in this acticle can obtain better control effect compared with the control system whose speed loop adopts PID control and current loop adopts PI control.The software system of the walking device is designed and realized,which contains main control module and human-computer interaction module.The main control module contains initialization,double closed-loop control,communication,step height measurement and A/D conversion.Human-computer interaction module contains slave serial port communication and touch screen programming.The construction of the walking device’s hardware system is introduced,and its important modules are tested separately,including the minimum system circuit of the main control board,pulse width modulation module,climbing floor drive motor and its drive circuit,ground drive motor and its driver and touch screen serial port communication.Finally,the experiment of climbing stairs was carried out.The results show that the control system and speed given curve designed in this article can meet the system requirements and feasibility of the device is tested. |
