| 薛必伦， 张秋菊， 宁萌.可变位姿越障轮椅的控制系统[J].轻工机械,2019,37(2):52-55 |
| 可变位姿越障轮椅的控制系统 |
| Control System for Wheelchairs with Variable Posture and Obstacles |
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| DOI：10.3969/j.issn.1005 2895.2019.02.010 |
| 中文关键词: 可变位姿越障轮椅 下位机 STM32运动控制处理器 CAN通信接口 |
| 英文关键词:wheelchair with variable pose and obstacles lower computer STM32 motion control processor CAN interface |
| 基金项目:国家自然科学基金青年基金项目（51705201） |
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| 中文摘要: |
| 为了改善老年人和残疾人行动不便的情况，针对可变位姿越障轮椅的各种功能需求，提出了可变位姿越障轮椅的控制系统
。设计了以PC机为上位机，以STM32为运动控制处理器的控制系统，介绍了整体功能需求；采用CAN模块实现STM32与PC机、各驱动模块的通信；设计了以伺服
电机为驱动电机的位姿变换功能；设计了整个轮椅位姿极限位置监测报警系统；采用手柄操控器的红外遥控功能，设计了可变位姿越障轮椅的人机操作系统。课
题组的研究有益于可变位姿越障轮椅的功能快速响应，便于轮椅的调试也让使用者更加方便地操控轮椅。 |
| 英文摘要: |
| In order to improve the mobility of the elderly and the disabled, a control system for the wheelchair with variable posture and obstacle crossing
performance wheelchair was proposed for various functional requirements of this kind of wheelchair. The control system with PC as the upper computer and STM32 as the motion control
processor was designed and the overall functional requirements were introduced. The CAN module is used to realize the communication between STM32 and PC and each driver module.
The pose transformation function based on servo motor and whole wheelchair position limit position monitoring alarm system were designed. The human machine operating system of the
wheelchair was designed with the application of the infrared remote control function of the handle controller. The research is beneficial to the quick functional response of the wheelchair
with variable posture and obstacle crossing function, which achieves the convenient debugging and easy operation of the wheelchair. |
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