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自動(dòng)走輪椅 學(xué)生姓名:梁 超 班級(jí):0681053 指導(dǎo)老師:袁 坤 摘要:為實(shí)現(xiàn)高性能和低成本的自行走輪椅, 開發(fā)了全數(shù)字自行走輪椅控制器; 采用先進(jìn)的無速度傳感器測(cè)速技術(shù), 設(shè)計(jì)了帶電流補(bǔ)償?shù)碾妷贺?fù)反饋加負(fù)載不平衡補(bǔ)償?shù)碾p電機(jī)協(xié)調(diào)控制方案。驅(qū)動(dòng)部分采用有刷幅條電機(jī)的后輪驅(qū)動(dòng)。幅條電機(jī)傳動(dòng)具有轉(zhuǎn)矩大、噪音低、效率高、耗電少、壽命長、綠色環(huán)保等優(yōu)點(diǎn)，克服了鏈傳動(dòng)噪聲大、沖擊大、傳動(dòng)不平穩(wěn)等缺點(diǎn)，且外觀新穎，控制部分采用采用平等四邊形連桿機(jī)構(gòu)，結(jié)構(gòu)簡(jiǎn)單，并實(shí)現(xiàn)了大角度的轉(zhuǎn)向控制和兩輪同步運(yùn)動(dòng)，同時(shí)增加輪椅在行進(jìn)中的穩(wěn)定性，而且起到防倒的功能，遇上下坡也能自主掌控，安全性高；制動(dòng)部分采用特制的漲剎機(jī)構(gòu)，達(dá)到前后手柄都可以制動(dòng)，安全性高。 給出了軟硬件結(jié)構(gòu)和單元電路的設(shè)計(jì)及參數(shù)選擇方法; 分析了操縱桿工作原理; 給出了輪椅速度和運(yùn)動(dòng)方向信息合成計(jì)算公式和提高運(yùn)行舒適度的S曲線生成策略。 關(guān)鍵詞: 自行走輪椅; 控制器; 雙電機(jī); 協(xié)調(diào)控制; S曲線; 誤差檢測(cè)；幅條電機(jī)；連桿機(jī)構(gòu)；漲剎機(jī)構(gòu)；電動(dòng)控制；輔助裝置 指導(dǎo)老師簽名: Automatic walk a wheelchair Student name :Liang Chao Class: 0681053 Supervisor: Yuan Kun Abstract: To achieve high performance and low cost to walk the wheelchair, developed by digital controller; walk wheelchairs, Using advanced speed sensorless speed technology, design with the current compensation voltage feedback and compensation of unbalanced load motor coordination control scheme. Driving part adopts a brush painting of the rear wheel drive motor. The picture has great torque motor drive, low noise, high efficiency, energy saving.longlife, green environmental protection etc, and overcome the impact noise, large chain drive not smooth, novel appearance and defects, and control part adopts USES equal quadrilateral linkage mechanism, simple structure, and realize the large Angle of steering control and two wheels, adding wheelchairs synchronous movement in the stability and travel, prevent fall function, meets the downhill can independently control, high security, Braking part adopts special rose, and brake to handle all can apply the brake, high safety. The hardware and software structure and given the unit circuit design and parameter selection method, The lever principle analysis, Given the speed and direction of movement wheelchair synthetic formulas and improve information generated the comfort of the S curve operation strategy. Key Words: EPW; Controller; Two2motor; Coordinated control; S curve; Fault detection；electromotive wheelchair；hand control；electric control；auxiliary unit Signature of Supervisor: