The invention relates to an electric
wheelchair safety
braking system and method based on double-MCU redundancy control, and aims to solve the problems of single-point failure, safety
response delay, large braking
impact and the like of a single-MCU control framework of an existing electric
wheelchair. According to the invention, a master-slave dual-MCU cooperative control architecture is adopted, a master MCU is responsible for whole
system core control and sends
heartbeat packets to a slave MCU in a 10ms period, and the slave MCU monitors the position of a rocker and the deceleration response state of the master MCU in real time; meanwhile, a hardware-level
AND gate logic circuit is arranged to achieve
interlocking of output signals of the master MCU and the slave MCU, the slave MCU is provided with an S-curve braking
algorithm module, when the master MCU does not trigger a deceleration instruction in a preset
window period after the Hall rocker is centered, the slave MCU will generate a progressive PWM modulation
signal to achieve stable braking and send a fault mark to the master MCU, and the master MCU stores fault data to a nonvolatile memory. According to the method, the fault
response time can be shortened to be within 100 ms, the braking deceleration is smaller than or equal to 0.3 g, and the method can be widely applied to high-reliability
motion control systems such as
electric wheelchairs and medical robots.