基于操作手柄新模型的电动轮椅运动控制系统

Research on a New Control Policy for Motion Controller of the EPWs

针对电动轮椅运动控制系统现阶段的局限性,设计了一种基于操作手柄新模型基础上的新型控制模式,以实现在有限手控指令的前提下,对电动轮椅进行方向转角闭环控制。试验证明,控制器样机能够实现双电机同速直线、差速定向的控制技术,从而验证了该控制模式的有效性。

In allusion to the limitations of the previous technology for the electric-powered wheelchairs （EPW）, a control policy based on the improved joystick was designed to realize the closed-loop control for intersection angle with a few instructions. The experiments validates the policy, of which the prototype in application realizes the key technologies for the motors, such as the speed control in the principle and the subordinate motor structure, and the closed-loop control for intersection angle.