Four-wheel independent driving control system of electric wheelchair

Abstract

The invention relates to a four-wheel independent driving control system of an electric wheelchair. The four-wheel independent driving control system comprises a universal operation handle, a function button, a DSP (digital signal processor) controller and four electric driving controllers respectively controlling left rear, right rear, left front and right front wheel motors; the electric driving controllers are connected with the DSP controller by CAN (controller area network) buses, and the DSP controller is connected with the universal operation handle electrically; the function button comprises a power source switch, a wheelchair movement mode selecting button for realizing control on traveling or autorotation of the wheelchair, an autorotation mode selecting button for realizing control on anticlockwise or clockwise autorotation of the wheelchair, and a traveling mode selecting switch for realizing control on advancing or backing of the wheelchair. Judgment and calculation of speed and direction are completed through the DSP controller according to setting of the operation handle and the function button, output information is sent to the driving controllers through the CAN buses, and the driving controllers control four hub motors through torque and speed dual-loop PID (proportion integration differentiation) to enable wheels to collaboratively output different directions and speeds.

Description

technical field [0001] The invention belongs to the technical field of electric wheelchairs, and in particular relates to a four-wheel independent drive control system of an electric wheelchair. Background technique [0002] The aging trend of my country's population is increasing day by day, and various diseases such as cerebrovascular disease, diabetes and other senile complications have caused the elderly to have mobility impairments. In addition, there are many inconveniences in the daily life of many people with disabilities of lower limbs. As a means of transportation for the disabled, wheelchairs play an important role in the daily travel and life of these people. Ordinary manual wheelchairs require human assistance, which is laborious and cannot travel long distances. Most of the electric wheelchairs on the market are driven by two wheels, and there are problems such as slipping, rolling, and poor starting and braking under poor road conditions, and it is not conve...

AI Technical Summary

Problems solved by technology

Ordinary manual wheelchairs require human assistance, which is laborious and cannot travel long distances

Most of the electric wheelchairs on the market are driven by two wheels, and there are problems such as slipping, rolling, and poor starting and braking under poor road conditions, and it is not convenient for the elderly or disabled to travel in a small space.

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