Preliminary design of a flat-staircase intelligent wheelchair

Abstract

The traditional manual wheelchairs and even electric wheelchairs do not have the function of climbing stairs, which limits freedom of the users. A flatstaircase intelligent wheelchair is presented in this article to improve the quality of the users’ life, making them have more space and freedom. The article firstly introduces the mechanical structure of the intelligent wheelchair and elaborate the stair-climbing and flat-moving principle. Then according to the concept of modularization design, this article respectively puts forward the driving and controlling scheme of stair-climbing module and flat-moving module. Afterwards, the main controller hardware circuit based on TMS320F28335, operating lever hardware circuit and the driving hardware circuit of stair-climbing motor and flat-moving motor are given respectively. Next, the system software modules of the wheelchair is put forward and underlying driving program is written to realize motor control of brushless commutation and closed-loop speed control based on Partition PI algorithm. Then the joint debugging of the intelligent wheelchair is carried on and the test data figure is provided. Finally, the article summarizes the project and puts forward the prospects for future work.