Research On Control System Of Main Driving Wheel And Rear Leg Mechanism Of Climbling Wheelchair Based On DSP

With the continuous improvement of China's social security system,the living quality of the elderly and the disabled has been significantly improved;but at the same time in the high-rise society,the travel of such people is still a problem.In response to this problem,this project has designed a wheel-legged intelligent climbing wheelchair that can cope with a variety of travel environments and can be a better means of transportation for people with reduced mobility.However,as a complex electromechanical product,how to control it properly is the key to the research.This paper mainly focuses on the development of the control system of the main drive wheel and rear leg mechanism of the climbing wheelchair.Firstly,the role of the main drive wheel and the rear leg mechanism in different working modes of the wheelchair is introduced,and the mechanical structure and transmission relationship are analyzed.Then,according to the expected function and action requirements of the wheelchair,the DSP is the core.Control system overall plan.The main drive wheel adopts differential control,the rear leg position adjustment mechanism adopts fuzzy PID control,and the wheel alignment mechanism adopts speed following synchronous control.Secondly,the hardware and software design of the main drive wheel and rear leg mechanism control system is completed.The hardware mainly completes the design of the control board,sensor hardware circuit,motor drive circuit,relay board and upper and lower machine multi-machine communication circuit of the main controller TMS320F2812.The software mainly builds the framework of the whole control system and designs the main program and subroutine.The whole control system has three modes of operation: manual,jog and automatic.The manual and jog modes are for pre-test and final control.The program needs to run in automatic mode;the program focuses on the motion control program of each actuator and the corresponding control algorithm.Finally,the written control program was tested on the climbing platform experimental platform and the experimental results were analyzed.The focus is on the sensor data acquisition system,the reliability and communication speed of multi-machine communication,and the control system of each actuator.Through experiments,the error of the sensor system is analyzed,the problems in multi-machine communication are solved and the feasibility of each execution module control program is verified.