爬楼梯的自行轮椅车设计（全套含CAD图纸）.zip

爬楼梯的自行轮椅车设计(控制)
摘要:轮椅在老年人和残疾人的生活中扮演着重要的角色,尤其是随着人口老龄化和残疾人数量增加等问题的日益严重,轮椅车将更加成为改善这一特殊人群的生活必备工具。然而,普通的手动和电动轮椅都不能够实现爬楼和翻越障碍的功能,使使用者的行动自由度受到了极大的限制。针对这个问题,本文研究了一种既可在平地使用,又能上下台阶的多功能爬楼梯轮椅,完成了系统方案设计和控制系统方案的设计。
本文在充分研究目前爬楼轮椅的国内外产品及相关文献,经综合比较分析,采用了以有刷直流电机驱动的基于行星轮结构的爬楼装置,并在此基础上详细论述了轮椅车的驱动控制方案。针对本文中所使用的双电机分别驱动左右轮的方案,提出了双电机同步控制的一种解决方案:采用主从式控制结构,为解决主从式控制系统的跟踪滞后问题,采用了带速度负反馈的PID算法。选用C8051FO20作为控制器极大地简化了外围电路设计及软件编程,仿真结果表明本文所采用的控制方案具有比较好的同步效果。
关键词:爬楼轮椅行星轮双电机同步控制 pid算法
指导老师签名:
design of Automatically stair-climbing walking wheelchair (control)

Abstrac: Wheelchair play an important role in the life of the elderly and persons with disabilities, especially with the increasingly serious problem of an aging population and the increase in the number of Persons with Disabilities, the wheelchair will be more and more e an essential tool to improve the lives of this special population. However, the normal manual or electric wheelchairs are disable to have the function of climbing stairs and climb over obstacles, so that the user's freedom of action has been extremely limited. in connection with this issue, this study can both be used on flat ground, multi-function but also up and down stairs, stair climbing wheelchair, completed the design of the system design and control system program.
In this paper, by the climbing stairs wheelchair domestic and foreign products and related parative analysis, using a brush DC motor drive based on the structure of the ary wheel climbing stairs device, and on this basis are discussed in detail wheelchair drive control program. Used herein, the dual motor drive the left and right wheels, dual-motor synchronous control solution: a master-slave control structure, to solve the master-slave control system tracking lag, with negative feedback of the PID algorithm. The selection C8051FO20 as the controller greatly simplifies the peripheral circuit design and software programming, simulation results show that using this control scheme has good synchronizat