Research And Development Of Differential Steering And Driving Controller For Electric Wheelchair

Electric wheelchair, which has relatively broad market prospect and social significance, is a kind of new type of vehicle facing aging society. The application of differential steering technology and the research about driving control method of electric wheelchair have important actual significance and value.This paper carries out the study about the theoretical and technical issues of differential steering of electric wheelchair and the problem of its speed fluctuation while running in depth, researching and developing the differential steering and driving controller of electric wheelchair combined with modern processing and control method of digital signal. The main contents are as follows:①Based on the treatise and analysis for the kinematic and dynamic models of electric wheelchair, this paper designs its overall scheme of differential steering and driving control, researching and analyzing the strategy of precision control of the scheme;②This paper carries out the simultaneous driving and differential speed control method and design scheme of two hub motors based on the motor control PWM module and output compare module of sole singlechip dsPIC30F6010A;③Discussion about the design of hardware of differential steering and driving controller of electric wheelchair according to the scheme above, including the schematic diagram design of circuit of controller's each function module, the selection of components, the making of printed circuit board and the thermal design of controller;④The design and development of software of differential steering and driving controller of electric wheelchair based on the scheme above, including the development of programs such as driving of hub motor, commutation of the armature's galvanization, differential of hub motor, manipulation of handle and so forth, the analysis and the design of the strategy of hub motor's speed closed-loop control based on the PID algorithm and the methods and measures of anti-interference through software;⑤This paper debugs and analyzes of the hardware and software above through integrated development environment based on the simulation on the parameters of hub motor for electric wheelchair conducted by MATLAB, improving and optimizing the differential steering and driving controller further.Through the theoretical research of differential steering and driving control for electric wheelchair and the design and experiment of hardware and software, this paper achieves the electric wheelchair's differential steering and driving control, verifies the validity and correctness of the design and method described above, meets the requirement of control precision and usage of modern electric wheelchair, and lays certain technical and theoretical basis for the further research and development of new type of electric wheelchair which is suitable for aging society.