Fuzzy PID Control Of Two-phase Hybrid Stepping Motor For Climbing Wheelchair

The stepping motor,as a power source of mechanism,is widely used in industrial automation control field.With the continuous development of industrial technology,the performance requirements of the motor are more and more high,not only require higher speed and torque,but also put forward higher requirements for operational reliability and precision.In order to meet the control requirements of climbing wheelchairs effectively,this paper designs a step motor control method for building climbing wheelchairs,which mainly includes the contents as follows.First of all,according to the control precision and dynamic response requirement of climbing wheelchair,the two-phase hybrid stepping motor is selected as the power source of each mechanism of climbing wheelchair,and according to the working principle and operating characteristics of stepping motor,The working model of stepping motor is analyzed and established,which provides the theoretical basis for the design of software and hardware of stepping motor driver.Secondly,the stepper motor driver circuit is designed,and the DSP28035 chip is selected as the control core of the motor to achieve the acquisition,processing and application of various kinds of information.According to the actual needs of motor control,the peripheral circuits,such as serial communication circuit,are designed.The double H bridge circuit,current acquisition circuit and power supply module meet the requirements of the hardware circuit for the control of the two-phase hybrid stepping motor.Thirdly,according to the control requirements of the motor,the fuzzy PID control algorithm is designed to control the position,speed and current of the two-phase hybrid stepping motor,which improves the precision,stability and reliability of the motor control.Furthermore,the serial communication control mode is designed to realize the control needs of multi-step motors in the upper computer of the climbing wheelchair.Finally,the control performance of the stepper motor driver is tested.The current waveform and torque output of the motor at different rotational speeds are given.The test results are analyzed and compared with the traditional subdivision control results,which basically meet the working requirements of climbing wheelchairs.