摘要：电动轮椅是通过在普通轮椅的基础上设计的一种采用电机来驱动的代步工具，使用起来简单方便、不会对环境造成污染，由于电动机的特性，噪音也不大。对于下肢残疾或瘫痪和年老体弱的人来讲，电动轮椅是很好的一种代步工具。72194

国外对电动轮椅的研究时间较早，因此技术相对来说也更加地成熟。他们开发的电动轮椅已经能适应大部分的情况，并且面向更多不同的人群，智能化的程度也在逐渐加深。通过对国内外已知的电动轮椅的分析研究基础上，使用现代设计理论及方法，对驱动的方式进行重新设计，添加上更多更丰富的辅助功能，再使用计算机三维制图软件来构建轮椅零部件的模型。提出后轮差速驱动转向的驱动方式，两台电机分别控制后轮的转速来达到转向和调速的目的，这种转向的驱动方案有灵活的优点。根据这种方案，设计相匹配的控制系统。   

毕业论文关键词：残障机器人；控制系统；电动轮椅

Design of Control System for Disabled Robot

Abstract：Electric wheelchair is designed by a wheelchair based on the use of a motor to drive the tool, easy to use, will not cause pollution to the environment, due to the characteristics of the motor, the noise is not large。 For people with lower limb disability or paralysis and frail people, electric wheelchair is a very good means of transport。

Foreign research on electric wheelchair earlier, so the technology is relatively more mature。 They developed the electric wheelchair has been able to adapt to most of the situation, and for more different groups of people, the degree of intelligence is also gradually deepened。 Based on the analysis of known electric wheelchairs at home and abroad, the modern design theory and methods are used to redesign the driving method, add more richer auxiliary functions, and then use the computer 3D drawing software to construct wheelchair zero Part of the model。 The drive is driven by the rear wheel differential drive, the two motors control the speed of the rear wheel to achieve the purpose of steering and speed control, this steering drive program has the advantages of flexibility。 According to this scheme, the design matches the control system。

Key words: disability robot; control system; electric wheelchair

目  录

1  绪论 1

1。1  课题背景及研究的目的和意义 1

1。2残障机器人的发展状况 1  1。3本章小结 3

2  控制系统设计 5

 2。1 驱动及转向系统设计 5

 2。2轮椅行驶及转向系统方案分析 5

2。3后轮转向驱动及转向系统设计 6

2。4本章小结 6

3 详细设计 6

3。1系统原理图设计 7

3。2系统流程图设计 7

3。3系统硬件设计 11

3。3。1驱动电机的选型 11

3。3。2座椅升降和靠背平躺部分电机的选型 12

3。3。3直流电机驱动器的选型 13

3。3。4电源接触器的选型 15

3。3。5继电器的选型 15

3。3。6电池的选用 16