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2016年 5 月 I 基于单片机的电动轮椅用手柄控制器设计

摘 要

随着社会的进步与发展，残障人士的生活质量越来越受到人们的关注，因此用于疾病护理与康复方面的辅助器械就应运而生。电动轮椅是一种理想 的代步工具，在社会上的需求量大，因此具有较高的研究价值。本次设计采用双后轮驱动模式，选用NEC公司生产的78K0系列单片机作为主控芯片。

首先，介绍了电动轮椅操纵杆控制器的研究与发展现状，并概述了电动轮椅操纵杆控制器的相关技术。 其次，介绍了电动轮椅操纵杆控制器的基本原理，并作出相应的设计方案。 第三，分析霍尔效应传感器的特性，本文选择了InSb线性霍尔效应传感器。 并采用恒压控制方式，设计完成了操纵信号采集电路。 然后，以NEC单片机为主控制芯片，完成手柄控制器的硬件电路设计包括 显示、按键、电源转换及主控制器电路等。最后，选择LIN总线协议作为操纵杆控制器系统的通信协议，编写程序实现电路 对蜂鸣器的控制、电池电量的显示、速度档位的显示、以及对电机的控制。

关键词：电动轮椅；手柄控制器；单片机；霍尔效应传感器

II Based on single chip microcomputer design of the handle

controller of electric wheelchair

Abstract

With the progress and development of society, the quality of life of people with disabilities

more and more people's attention, so for disease care and rehabilitation assistive devices came

into being.Electric wheelchair is an ideal means of transport, the demand in the community is

large, and herefore has a high research value.The design uses a dual-rear-wheel drive model, the

choice of NEC 78K0 series produced microcontroller as the master chip.

Firstly, the status of research and development of electric wheelchair joystick, and an

overview of the electric wheelchair joystick related technologies.Secondly, it introduces the

basic principles of electric wheelchair joystick,and make the appropriate design.Third, the

analysis features Hall effect sensor, the paper chose InSb linear Hall-effect sensors. And

constant pressure control mode, designed to complete the manipulation signal acquisition

circuitry.Then, NEC microcontroller-based control chip to complete the hardware circuit design

handle controller includes a display, keypad, power conversion, and the main controller

circuit.Finally, select the LIN bus protocol as the communication protocol joystick system, the

preparation of program control circuit buzzer, battery power display, speed gear display, and

control of the motor.

Key words:Electric wheelchair; handle controller; Single chip microcomputer;

Hall effect sensor

I 目 录

摘 要 ...................................................................... I

Abstract .................................................................. II

1 绪论 ..................................................................... 1

1.1 课题背景及意义 ............................................................................................................... 1

1.2 电动轮椅控制器的研究与发展现状 ............................................................................... 1

1.3 电动轮椅操纵杆控制器的介绍 ....................................................................................... 2

2 电动轮椅操纵杆控制器整体方案设计 ......................................... 3

2.1 操纵杆控制器功能介绍 ................................................................................................... 3

2.2 操纵杆控制器应用的基本原理 ....................................................................................... 3

2.2.1 操纵界面原理 ......................................................................................................... 3

2.2.2 电动轮椅运动分析 ................................................................................................. 8

2.2.3 差速转向方程的构建 ........................................................................................... 11

2.3 操纵杆控制器整体设计方案 ......................................................................................... 13

2.3.1 整体方案的确定 ................................................................................................... 13

2.3.2 微控制器选型 ....................................................................................................... 13

3 操纵信号采集设计 ........................................................ 16

3.1 霍尔效应传感器分类及特性 ......................................................................................... 16

3.2 霍尔效应传感器选择 ..................................................................................................... 17

4 硬件电路设计 ............................................................ 19

4.1 正5V电压源 .................................................................................................................. 19

4.2 +1V电压源 ................................................................................................................... 20

4.3 操纵信号采集电路 ............................................................................ 错误!未定义书签。

4.4 蜂鸣器电路 ........................................................................................ 错误!未定义书签。

4.5 显示电路 ............................................................................................ 错误!未定义书签。

4.6 按键电路设计 .................................................................................... 错误!未定义书签。

4.7 通信电路设计 .................................................................................... 错误!未定义书签。

4.8 驱动电路 ............................................................................................ 错误!未定义书签。