Research On The Control System Of Stair-climbing Wheelchair Foreleg Mechanism

With the social development and technology progress,the need of the elderly and the people with disabilities for freedom of movement is growing.The appearance of intelligent wheelchair has very important and practical significance for improving the quality of life of the elderly and the disabled.This paper mainly studied the control system design of the foreleg of the wheel-legged integrated intelligent wheelchair.When the wheelchair up and down stairs or crosses over the obstacles,it has to adjust the pose of the forelegs to improve its ability to adapt to the environment.The foreleg is a strong guarantee for achieving the reliable operation of the wheelchair,so it is very necessary to design the control system of intelligent wheelchair foreleg.Firstly,by analyzing the requirements and trajectory of the foreleg of the intelligent wheelchair,this paper completed the overall control system design of the foreleg based on PIC16F877 A microcontroller.Secondly,it designed the hardware and software of the functional modules of the controller,used the multi sensor to make data acquisition,established the drive system model of stepper motor,completed the drive system design of pose adjusting mechanism based on relay control mode,and studied the self-balance fuzzy control technique of the lifting mechanism.In order to achieve the interactive features,this paper designed human-computer interaction dialog based on VC and realized the serial communication between the PIC MCU and the PC.At the same time,due to the needs of hardware circuit design,it also completed the manufacture of the relay board and the control core circuit board.Finally,by MATLAB simulation and physical debugging,the results validated the good performance of the control system and it can meet the expectations of this project.