The Design And Realization Ofcontrol Strategy Of Uppercomputer For Climbingwheelchair

In recent years,with the progress of national science and technology,China’s social security policy is more and more perfect,the life of the elderly and people with various physical disabilities has been improved.However,in today’s society with a large population and high-rise buildings,the travel problem of these people deserves great attention.In view of this situation,the wheelleg electric intelligent wheelchair designed in this project can be used as a transport tool to help these special groups up and down the stairs.As a kind of mechanical and electrical product with complex structure,building climbing wheelchair cannot achieve the function of building climbing without the coordination and cooperation of various organizations.Therefore,it is crucial to design an effective control strategy.This paper mainly focuses on the design and implementation of the control strategy of the upper computer of the climbing wheelchair.Firstly,the paper introduces the behavior graph model of wheelchair climbing,and proposes three behavior graph models for wheelchair climbing.MATLAB software was used to simulate the behavior graph model in the process of wheelchair climbing,and the distance and Angle values of each part of the mechanism under different positions of the wheelchair during the process of climbing were saved in EXCEL as control data.Secondly,according to the movement requirements of each part of the mechanism,the installation position of each sensor is determined,and the control strategy of the upper computer of the climbing wheelchair is formulated.In terms of software,the general control framework has been built,and the communication protocol has been formulated for single and multi-machine control.Win API is used for serial programming to realize the communication between the upper computer and the lower computer.The whole control framework includes three modes: manual mode,inching mode and automatic mode,among which the manual mode and the inching mode are used for the preliminary test and maintenance,and the ultimate purpose is to serve the automatic control mode of the whole machine.Finally,MFC in VC++6.0 software is used to design the single machine control interface of the seat,front leg and rear leg and the multi-machine control interface of the entire wheelchair.Taking the seat mechanism as the test point,fuzzy control algorithm is added to the control of the center of gravity displacement adjustment mechanism,and the fuzzy PID control algorithm is added to the control of the pose adjustment mechanism to test the control effect of the upper computer on the seat mechanism.The multi-machine automatic control is on the basis of the single-machine automatic control to join the multi-machine coordination automatic control algorithm,according to the MATLAB established by the behavior diagram model and EXCEL to control the wheelchair climbing movement.Through the tests of single machine control and multi-machine control of the wheelchair,it can be known that the control strategy of the upper computer of the building climbing wheelchair designed in this paper can realize the automatic control of the building climbing wheelchair.