一种爬楼轮椅及其驱动控制系统分析-analysis of a stair climbing wheelchair and its driving control system.docxVIP

AbstractAs time goes by, our country has got into an aging population. Many old folks cannot walk independently and freely. To these people, wheeling chair is their main tool. Unfortunately, the common wheeling chair is not able to go over any steps and stairs, which is numerous in our life space. On the other hand, many buildings which have less than six floors have no elevator. And the disability friendly facility in public is also not well-appointed. All of these make disabled people live inconveniently.This research project aims to develop a special wheeling chair for aged and disabledpeopled to improve their ability of movement. This wheeling chair can be used at flat ground as a common wheeling char and can go up/down stairs and go over some blocks. The key features contain: using planetary gear to achieve the ability of climbing stairs; taking the BLDC as the main driving motor; A network control system is developed to manage different modules in the system synthetically; measure and control the attitude of the seat by combining the accelerometer and gyro-scope; using battery as the power source; using joystick, keys and LCD to exchange information between the user and the wheeling chair.The experimental results show that this wheeling chair can work in different road situation, go up/down stairs, and go across small blocks such as steps. What’s more, it is easy to operate. If with a higher stabilization and lower price, it is hopeful to popularize this wheeling chair to market to meet disabled people’s requirement.Key words：Stair-climbing Wheeling Chair, Brushless Motor, Information Fusion, Kaman Filter目录摘要 .................................................................................................................... IAbstract.............................................................................................................. II1绪论1.1课题背景 ................................................................................................ (1)1.2