基于CAN通信的电动轮椅电机控制系统设计

Design of Power Wheelchair Motor Controller Based on CAN Bus

为实现低成本高性能的电动轮椅车,开发了以FREESCALE 8位微处理器MC9S08DZ128为核心的电动轮椅电机控制器。系统采用基于CAN通信的全新架构,提高了系统的灵活性和可扩展性。结合轮椅的运行要求,设计了以电压反馈为主,带电流补偿以及过电流截止保护的双电机协调控制方案。轮椅样机运行试验证明,系统运行实验性能良好,达到了预期设计目标。

In order to present a high performance low cost electric-powered wheelchair（EPW）,an all-digital EPW controller based on FREESCALE MC9S08DZ128,an 8-bit microcontroller unit,was developed in this paper.We presented our new system architecture for EPW based on CAN Bus and our first model of such a design architecture.According to the requirements of wheelchair,a control scheme based mainly on a voltage feedback combined with current feedback compensation and over-current protection is designed,which is intended to coordinate the operation of the two motors.Wheelchair prototype operation test results have shown the feasibility and reliability of the design,which are in accordance with the original expectations.