Control device for electric wheelchair with dual motor coordinated control

Abstract

The invention relates to a dual-motor coordination control electric wheelchair control device, and relates to a motor driving wheelchair; the electric wheelchair control device comprises a controller, a manual operator, a storage battery and motors; a connecting mode of the parts are that one end of the manual operator is connected with the controller through a relay, and the other end of the manual operator is connected with the storage battery; the controller and the manual operator communicate through CAN; an output end of the controller is connected with the motors; the storage battery provides power for the controller, the manual operator and the motors; the brushless DC motors are employed, a double-wheel coordination differential velocity control method is used, and a feedback compensation mode enables the wheelchair to keep left and right wheels in synchronization in operation, so the wheelchair is stable in motion, thus solving the problems in the prior art that a brush DC motor is slow in commutation speed, large in noise, and the motor is easy to be damaged in long term wearing state of the motor, and solving the disadvantages in the prior art that a conventional electric wheelchair is unstable in motion process and left and right wheel driving are not in synchronization.

Description

technical field [0001] The technical solution of the present invention relates to a motor-driven wheelchair, in particular to a control device for an electric wheelchair under coordinated control of two motors. Background technique [0002] The electric wheelchair with coordinated control of dual motors is a specific application technology in the field of modern transmission. However, the research in this area in our country is still far from perfect, and there are still many problems that cannot be solved. Electric wheelchairs are gradually replacing traditional manual wheelchairs due to their superior performance, simple operation, and safe operation. However, at present, the research technology of electric wheelchairs in my country is not mature enough. Electric wheelchairs mainly stay in the laboratory stage, and the scope of popularization is not wide. Moreover, the electric wheelchairs currently on the market are large in size and heavy in weight, which makes the wheel...

AI Technical Summary

Problems solved by technology

[0003] At present, most wheelchairs on the market choose DC brushed motors, but brushed motors have high operating current and relatively high noise, and the motor magnets are easy to demagnetize, which reduces the service life of wheelchairs.

In addition, in the article "Coordinated Control Method of Double-hub Brushless DC Motors for Electric Wheelchairs" in Volume 47, Issue 9 of "Micro Motors", the differential speed algorithm of the operating handle is based on the speed of one of the motors as the reference speed, and the speed of the other motor Obtained through differential speed calculation, a control signal is given to the controller through the handheld operator, and the motors of the wheelchair are respectively controlled to move the wheelchair forward and backward, which will cause problems such as instability in the operation of the wheelchair and asynchronous driving of the left and right wheels.

CN201420180820 discloses an electric wheelchair control device, which adopts open-loop control, and the speed control accuracy is not high during the operation of the wheelchair, and synchronization cannot be maintained; in addition, the operating part and the driving part of the device are connected through communication, and the operating part and the driving part are separated Power supply, when the operation part is powered off, the drive part cannot be powered off in time, which wastes battery power

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