Design Of Motor Control System For Climbing-stair Wheelchair Based On TMS320F2812

Currently,with acceleration of China's population aging,wheelchair has become an ideal tool for old and disabled people to go outside to enjoy their lives.However,ordinary wheelchairs don't have climbing-stair and obstacle-crossing functions.As many malls and residential buildings don't provide barrier-free paths,users of these wheelchairs can only stop in front of steps and stairs helplessly.This significantly limits their motion range.In order to facilitate their travel and allow them to fully enjoy kindness from society,a wheel-legged electronic climbing-stair wheelchair was designed.It has stair-climbing and obstacle-crossing functions to improve old and disabled people's motion ability.At first,with respect to the motor control,TMS320F2812 DSP chip from Texas Instruments Inc.was adopted as the core processor.Then,through making full use of its rich resources and fast data processing ability coupled with a VC-based upper computer to display the control UI,a climbing-stair wheelchair motor control system was designed.It enables 3 major functions: joystick control of wheelchair motion,adjustment of treadle height,and adjustment of wheelchair rear leg pose.Secondly,analysis of the motor drive system was carried out to determine actuator motions,so as to propose the control system design solution.Then,the resources of control system were assigned to design the hardware circuit,laying a good foundation for software design.Finally,software design was carried out according to the requirements on actuator motions,to determine three executive modules: S-curve control algorithm-based joystick control module,treadle lifting module,rear leg pose adjustment module.The RS232 communication method was used to upload parameters such as sensor parameters for displaying on upper computer,which could send instructions to control actuator motions.At last,the climbing-stair wheelchair was tested on a physical platform.The results showed that it could precisely control the motions of each actuator.The upper computer could display important parameters from sensors in a real-time manner.Then,the DSP compile software was used to output the change curve of important parameters,so as to summarize the change law of actuator motions.