基于S曲线加减速算法的轮椅手柄操纵控制方法研究

针对电动爬楼轮椅启停速度变化不连续，电机冲击大，运动控制不灵活的问题，给出了DSP2812和S曲线加减速算法相结合的控制方法。以DSP2812为控制核心，对电机的转速和脉冲频率进行规划，研究启停时加速度和速度的变化情况。将手柄输出以不同区域的形式进行划分，每个区域对应一种运动状态，明确速度和方向的信息。测试结果表明：S曲线加减速算法保证了轮椅启停时加速度连续，速度平滑变化，有效地避免电机产生较大的冲击，手柄灵活准确地操纵轮椅运动。

Design of handle control system based on S-curve acceleration and deceleration algorithm

In order to solve problems of existing electronic stair-climbing wheelchairs such as discontinuous speed change in the start/stop process, excessive impact of the motor, and inflexible joystick control, a control method was proposed which integrates DSP2812 chip and S-curve acceleration/deceleration algorithm. As the key to control, the DSP2812 chip was adopted to realize the S-curve acceleration/deceleration algorithm, so as to plan the motor speed in the start/stop process and study the changes of acceleration and speed. Outputs of the joystick were divided into different sections, each of which corresponded to a particular motion state, specifying the information about speed and direction. This made it easy to control the joystick. The testing results showed that the S-curve acceleration/deceleration algorithm ensures continuity of acceleration in the start/stop process of wheelchair as well as continuity and smoothness of speed change, so as to effectively avoid excessive impact generated by the motor and make the joystick control the motion of wheelchair in a flexible and accurate manner.