电动轮椅控制手柄的设计

摘要：电动轮椅，用于疾病康复和护理方面的协助器械，最适合残疾人实用的代步工具。伴随着社会的进步和发展，人们对残疾人越来越重视，因此残疾人对电动轮椅的需求变大，也使电动轮椅的研究价值很高。此次毕业设计应用双后轮驱动模式，采用NEC公司生产的78K０系列单片机作为主控制芯片。

首先了解电动轮椅控制杆的发展状况，同时介绍了与电动轮椅控制杆有关的技术。然后又先容了电动轮椅控制器的基本运用原理，同时概述出与其相对应的总体设计方案。其次剖析霍尔效应传感器的特征，本篇文章采用了INSB线性霍尔效应传感器。与此同时选用恒压控制形式，计划并完成了控制信号采集的电路。第四，用NEC单片机作为主要控制芯片，实现手柄操纵器的硬件电路计划涵括显示、按键、电源改变和主要控制电路等。最终，采用LIN总线协议作为控制器系统的通信协议，撰写程序完成电路对于蜂鸣器的掌管、电池电量的体现、和控制电机。

关键词：电动轮椅；手柄控制器；单片机；霍尔效应传感器

The Design of the Electric Wheelchair Control Handle

Abstract：Electric wheel chair for disease rehabilitation and nursing assistance devices, the most suitable for people with disabilities and practical. Along with the progress and development of the society, people pay more and more attention to of, so the demand for electric wheelchairs for the disabled, also make electric wheelchair research value is very high. The graduation design double rear wheel drive mode, use the NEC 78 k0 series single chip microcomputer as the main control chip.First introduce the electric wheelchair control lever of understanding and development status, and introduces the technology related to the electric wheelchair control rod. Then introduce the basic application principle of the electric wheelchair controller, and Outlines the overall design of the corresponding. Secondly analyzes the characteristics of the hall effect sensors, this paper adopted the INSB linear hall effect sensors. At the same time choose form of constant pressure control, plan and completed the control signal acquisition circuit. Fourth, NEC MCU was used as main control chip, implement the handle, the hardware of the manipulator plans include display, buttons, power change and the main control circuit, etc. Finally, using the communication protocol, the control system of LIN bus agreement as written procedures to complete the circuit for the buzzer in charge, the embodiment of the battery, motor and control.

Keywords：Electric wheelchair; handle controller; Single chip microcomputer;

Hall effect sensor

第1章绪论……………………………………………….. 2

1.1 课题研究的目的和意义……………………………….. 2

1.2 课题目前的研究现状…………………………………. 2

第2章总体设计方案………………………………………… 4

2.1 操纵杆控制器功能介绍……………………………….. 4

2.2 操纵杆控制器应用的基本原理………………………….. 4

2.2.1 控制界面原理…………………………………… 4

2.2.2 电动轮椅运动分析………………………………. 10

2.2.3 差速转向方程的构建…………………………….. 12

2.3 操纵杆控制器整体设计方案…………………………… 14