CN113018018A - Wheelchair motor control method, system and device and wheelchair - Google Patents
Wheelchair motor control method, system and device and wheelchair Download PDFInfo
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- CN113018018A CN113018018A CN202110225467.6A CN202110225467A CN113018018A CN 113018018 A CN113018018 A CN 113018018A CN 202110225467 A CN202110225467 A CN 202110225467A CN 113018018 A CN113018018 A CN 113018018A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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Abstract
The embodiment of the application discloses a control method, a control system and a control device of a wheelchair motor and a wheelchair, and belongs to the technical field of motor control. Wherein, the method comprises the following steps: acquiring a first motion parameter of a wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period; determining a motion equation of the wheelchair motor based on the first motion parameter; determining a target motion parameter based on a motion equation, wherein the target motion parameter is used for representing a motion parameter of each moment in a preset time period; and controlling the motion of the wheelchair motor based on the target motion parameters. Therefore, the technical problem that in the related art, the motor shakes greatly when the wheelchair turns at a low speed due to the fact that torque pulsation generated by the motor during reversing is large can be solved.
Description
Technical Field
The application relates to the field of motor control, in particular to a wheelchair motor control method, system and device and a wheelchair.
Background
At present, traditional electronic wheelchair control is simple, brushless motor control system that uses on the market generally all has when moving, especially at low-speed turn, and the shake is more obvious when meetting uneven road surface, especially direct current brushless motor is because the existence of inductance when the commutation, make the electric current of motor winding rise when the commutation and decline speed inequality, therefore lead to great torque pulsation, make the wheelchair move at low speed or when the low-speed turn, the wheelchair motor shake is obvious, serious influence its travelling comfort and popularization.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a control method, a control system and a control device of a wheelchair motor and a wheelchair, and at least solves the technical problem that in the related technology, the torque pulsation generated when the wheelchair motor is reversed is large, so that the motor is shaken greatly when the wheelchair turns at a low speed.
According to an aspect of an embodiment of the present application, there is provided a control method of a wheelchair motor, the method including: acquiring a first motion parameter of a wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period; determining a motion equation of the wheelchair motor based on the first motion parameter; determining a target motion parameter based on a motion equation, wherein the target motion parameter is used for representing a motion parameter of each moment in a preset time period; and controlling the motion of the wheelchair motor based on the target motion parameters.
Optionally, determining the equation of motion of the wheelchair motor based on the first motion parameter comprises: determining a plurality of motion coefficients based on the first motion parameter; an equation of motion is determined based on the plurality of motion coefficients.
Optionally, the first motion parameter comprises: a distance, a velocity, and an acceleration at a start time, and a distance, a velocity, and an acceleration at an end time, wherein determining the plurality of motion coefficients based on the first motion parameter comprises: determining a first motion coefficient based on the distance of the start time; determining a second motion coefficient based on the speed at the starting time; determining a third motion coefficient based on the acceleration at the start time; and determining a fourth motion coefficient, a fifth motion coefficient and a sixth motion coefficient based on the motion distance, the speed and the acceleration at the starting moment, the speed and the acceleration at the ending moment and a preset time period, wherein the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different in the number of times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient.
Alternatively, the fourth motion coefficient dK3 is obtained by the following formula:
the fifth motion coefficient dK4 is obtained by the following formula:
the sixth motion coefficient dK5 is obtained by the following formula:
where dH denotes a movement distance, dV0 denotes a speed at the start time, dV1 denotes a speed at the end time, dA0 denotes an acceleration at the start time, dA1 denotes an acceleration at the end time, and dT denotes a preset time period.
Optionally, determining the motion equation based on the plurality of motion coefficients and the plurality of preset parameters comprises: determining a first motion equation based on the first motion coefficient, the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient and a plurality of moments in a preset time period; determining a second motion equation based on the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient and a plurality of moments in a preset time period; and determining a third motion equation based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient and a plurality of moments in a preset time period.
Optionally, the first equation of motion is obtained by the following formula:
dQ＝(dK0)+(dK1)×dT1+(dK2)×dT2+(dK3)×dT3+(dK4)×dT4+(dK5)×dT5，
the second equation of motion is obtained by the following formula:
dV＝(dK1)+2×(dK2)×dT1+3×(dK3)×dT2+4×(dK4)×dT3+5×(dK5)×dT4，
the third equation of motion is obtained by the following formula:
dA＝2×(dK2)+6×(dK3)×dT1+12×(dK4)×dT2+20×(dK5)×dT3，
here, dT1, dT2, dT3, dT4, and dT5 indicate a plurality of times.
According to another aspect of the embodiments of the present application, there is also provided a control system of a wheelchair motor, the system including: the acquisition device is used for acquiring a first motion parameter of the wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period; the control device is connected with the acquisition device and used for determining a motion equation based on the first motion parameter and determining a target motion parameter based on the motion equation, wherein the target motion parameter is used for representing the motion parameter of each moment in a preset time period; and the driving device is connected with the control device and used for driving the wheelchair motor to move based on the target motion parameters.
Optionally, the collecting means comprises: the first sensor is positioned at the first wheelchair motor and used for acquiring a first motion parameter of the first wheelchair motor; and the second sensor is positioned at the second wheelchair motor and used for acquiring the first motion parameter of the second wheelchair motor.
Optionally, the control device comprises: the conditioning circuit is connected with the acquisition device and is used for converting the received analog quantity information of the first motion parameter into digital quantity information; and the controller is connected with the conditioning circuit and used for determining a plurality of motion coefficients based on the digital quantity information and determining a target motion parameter based on the plurality of motion coefficients.
Optionally, the power supply device is used for supplying power to the acquisition device, the control device and the driving device.
According to another aspect of the embodiments of the present application, there is also provided a control apparatus of a wheelchair motor, the apparatus including: the acquisition module is used for acquiring a first motion parameter of the wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period; the first determination module is used for determining a motion equation of the wheelchair motor based on the first motion parameter; the second determination module is used for determining target motion parameters based on the motion equation, wherein the target motion parameters are used for representing the motion parameters of each moment in a preset time period; and the control module is used for controlling the movement of the motor of the wheelchair based on the target movement parameters.
According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, which includes a stored program, wherein when the program runs, the apparatus on which the computer-readable storage medium is controlled performs the above-mentioned wheelchair motor control method.
According to another aspect of the embodiments of the present application, there is also provided a wheelchair including: a processor and a memory; the memory stores a computer program which is suitable for being loaded by the processor and executing the control method of the wheelchair motor.
In the embodiment of the application, a first motion parameter of a wheelchair motor is obtained firstly, then a motion equation of the wheelchair motor is determined based on the first motion parameter, then a target motion parameter is determined based on the motion equation, and finally the motion of the wheelchair motor is controlled based on the target motion parameter. The motion equation of the wheelchair motor is obtained by adopting the motion parameters at the starting time and the ending time of the preset time period, and then the target motion parameters are determined, so that the aim of obtaining the target motion parameters at a plurality of times in the preset time period is achieved, the wheelchair motor is more finely controlled in the preset time period, therefore, the wheelchair motor rotates more smoothly, the influence caused by speed fluctuation is reduced, the technical effect that the wheelchair runs more stably when the wheelchair turns at a low speed or on an uneven road surface is achieved, and the technical problem that the motor shakes greatly when the wheelchair motor commutates in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a method of controlling a wheelchair motor according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative wheelchair motor control method according to an embodiment of the present application;
FIG. 3 is a schematic view of an alternative wheelchair motor control system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a control system for a wheelchair motor according to an embodiment of the present application;
FIG. 5 is a schematic view of a wheelchair testing apparatus in accordance with an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Example 1
In accordance with an embodiment of the present application, there is provided a control method for a wheelchair motor, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown.
Fig. 1 is a flowchart of a control method of a wheelchair motor according to an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:
step S102, a first motion parameter of a wheelchair motor is obtained.
The first motion parameter is a motion parameter of a starting time and an ending time of a preset time period.
The first motion parameter in the above step may be a distance, a speed, and an acceleration at a start time and a distance, a speed, and an acceleration at an end time within a preset time period, where the obtained first preset parameter may be analog quantity information.
In an alternative embodiment, the first motion parameter may be obtained by a sensor disposed on a motor of the wheelchair during the movement of the wheelchair, wherein the sensor may be a hall sensor, an acceleration sensor, or the like, which may be used to collect position information, and the sensor used to obtain the first motion parameter is not specifically limited herein.
And step S104, determining a motion equation of the wheelchair motor based on the first motion parameter.
In the above steps, a plurality of motion coefficients can be determined through the obtained first motion parameters and preset values, and a motion equation of the wheelchair motor is determined based on the determined plurality of motion coefficients and the preset values, wherein the preset values are optimal constant values obtained after a plurality of tests, and the motion equation is used for describing the operational relationship between the plurality of motion coefficients and a plurality of moments in a preset time period.
In an alternative embodiment, the plurality of motion coefficients may include a first motion coefficient dK0, a second motion coefficient dK1, a third motion coefficient dK2, a fourth motion coefficient dK3, a fifth motion coefficient dK4, and a sixth motion coefficient dK5, wherein the first motion coefficient dK0 is determined by a distance of a starting time, the second motion coefficient dK1 is determined by a speed of the starting time, the third motion coefficient dK2 is determined by an acceleration of the starting time, and it should be specifically noted that the fourth motion coefficient dK3, the fifth motion coefficient dK4, and the sixth motion coefficient dK5 may be determined by the following formulas:
wherein, the values of n are respectively 2, 3 and 4, constant terms in the formula are the preset values, dH represents the movement distance, dV0 represents the speed at the starting time, dV1 represents the speed at the ending time, dA0 represents the acceleration at the starting time, dA1 represents the acceleration at the ending time, and dT represents the preset time period.
In another alternative embodiment, in the case where dK0 to dK5 are determined, the first to third equations of motion may be obtained:
dQ＝(dK0)+(dK1)×dT1+(dK2)×dT2+(dK3)×dT3+(dK4)×dT4+(dK5)×dT5，
dV＝(dK1)+2×(dK2)×dT1+3×(dK3)×dT2+4×(dK4)×dT3+5×(dK5)×dT4，
dA＝2×(dK2)+6×(dK3)×dT1+12×(dK4)×dT2+20×(dK5)×dT3，
here, dT1, dT2, dT3, dT4, and dT5 indicate a plurality of times.
And step S106, determining target motion parameters based on the motion equation.
The target motion parameters are used for representing the motion parameters of each moment in a preset time period.
The target motion parameters in the above steps may be a distance, a speed, and an acceleration at each of a plurality of times within a preset time period.
And step S108, controlling the movement of the motor of the wheelchair based on the target movement parameters.
In an optional embodiment, after the target motion parameter is obtained through operation in the controller, the driving circuit sends a control command to control the motor to move.
In an optional embodiment, in the moving process of the wheelchair, the joystick is operated to control the wheelchair to move, the controller receives a signal and then sends an instruction to enable the wheelchair to move according to the speed and the acceleration of the instruction, meanwhile, the sensor sends acquired information of the distance, the speed and the acceleration within a preset time period to the controller through the conditioning circuit, the controller starts to calculate based on the information of the distance, the speed and the acceleration within the preset time period to determine a plurality of motion coefficients, a motion equation is obtained through the plurality of motion coefficients, a target motion parameter is determined accordingly, and the driving circuit receives the target motion parameter to control the motor of the wheelchair to move.
In the embodiment of the application, a first motion parameter of a wheelchair motor is obtained firstly, then a motion equation of the wheelchair motor is determined based on the first motion parameter, then a target motion parameter is determined based on the motion equation, and finally the motion of the wheelchair motor is controlled based on the target motion parameter. The motion equation of the wheelchair motor is obtained by adopting the motion parameters at the starting time and the ending time of the preset time period, and then the target motion parameters are determined, so that the aim of obtaining the target motion parameters at a plurality of times in the preset time period is achieved, the wheelchair motor is more finely controlled in the preset time period, therefore, the wheelchair motor rotates more smoothly, the influence caused by speed fluctuation is reduced, the technical effect that the wheelchair runs more stably when the wheelchair turns at a low speed or on an uneven road surface is achieved, and the technical problem that the motor shakes greatly when the wheelchair motor commutates in the related technology is solved.
Optionally, determining the equation of motion of the wheelchair motor based on the first motion parameter comprises: determining a plurality of motion coefficients based on the first motion parameter; an equation of motion is determined based on the plurality of motion coefficients.
In an optional embodiment, the sensor acquires direction information and position information of the wheelchair within a preset time period, wherein the acquired direction information and position information are analog quantity information, the acquired analog quantity information is converted into digital quantity information through the conditioning circuit, the converted direction and real-time coordinate values are sent to the controller through the serial port, and after the controller performs operation to determine a plurality of motion coefficients, the controller determines a motion equation based on the plurality of motion coefficients.
Optionally, the first motion parameter comprises: a distance, a velocity, and an acceleration at a start time, and a distance, a velocity, and an acceleration at an end time, wherein determining the plurality of motion coefficients based on the first motion parameter comprises: determining a first motion coefficient based on the distance of the start time; determining a second motion coefficient based on the speed at the starting time; determining a third motion coefficient based on the acceleration at the start time; and determining a fourth motion coefficient, a fifth motion coefficient and a sixth motion coefficient based on the motion distance, the speed and the acceleration at the starting moment, the speed and the acceleration at the ending moment and a preset time period, wherein the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different in the number of times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient.
In the above steps, the distance, speed, and acceleration at the start time are represented by dQ0, dV0, and dA0, respectively, and the distance, speed, and acceleration at the end time are represented by dQ1, dV1, and dA2, respectively, where the first motion coefficient dK0 is dQ0, the second motion coefficient dK1 is dV0, and the third motion coefficient dK2 is dA 0/2.
Alternatively, the fourth motion coefficient dK3, the fifth motion coefficient dK4 and the sixth motion coefficient dK5 may be calculated by the above formula of step S104.
Optionally, determining the motion equation based on the plurality of motion coefficients and the plurality of preset parameters comprises: determining a first motion equation based on the first motion coefficient, the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient and a plurality of moments in a preset time period; determining a second motion equation based on the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient and a plurality of moments in a preset time period; and determining a third motion equation based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient and a plurality of moments in a preset time period.
Alternatively, three motion equations, namely the first motion equation, the second motion equation and the third motion equation, may be obtained through formula calculation, where the specific formula is the formula described in step S104 above.
A preferred embodiment of the present invention will be described in detail with reference to fig. 2 to 3. As shown in fig. 2, the method may include the steps of:
step S201, initialization;
step S202, calculating the distance, the speed and the acceleration of the starting time and the ending time;
step S203, calculating a fifth-order polynomial coefficient and determining an interpolation motion equation;
step S204, calculating real-time speed, acceleration and distance through a quintic polynomial motion equation.
When the wheelchair moves on a long uneven road, under the combined action of excitation and load of the road, the speed of the motor in the movement process can fluctuate greatly to influence the normal traveling route, and simultaneously, the user feels uncomfortable, at the moment, if the movement of the wheelchair is controlled through the Hall rocker, as shown in fig. 3, in the scheme of the application, the power supply device 30 can be an 8V or 24V battery, a DC/DC (direct current/direct current) module is contained, the DC/DC module is used for converting the working voltage suitable for the normal operation of the controller and the conditioning circuit, when the wheelchair moves, the Hall sensors arranged on the first motor 34 and the second motor 35 are used for collecting the movement parameters, the analog quantity information is collected, the collected analog quantity information is converted into digital quantity information through the conditioning circuit 31 and then is sent to the controller, the initialization is carried out in the controller 32, and the distance between the starting time and the ending time obtained after the operation is obtained, Speed and acceleration, further, a fifth-order polynomial coefficient is obtained through calculation, an interpolation motion equation (namely the first motion equation to the third motion equation) is determined, real-time speed, acceleration and distance at 5 moments in a preset time period are calculated through the fifth-order polynomial motion equation, then a driving circuit sends a control command to control the first motor and the second motor, wherein the driving circuit is a link connected between a controller and the first motor and the second motor, the transmission performance of the driving circuit directly influences the running quality of the whole system, the driving circuit has the function of distributing the power of a power supply to windings on the stator of the brushless direct current motor in a certain logic relation to realize the control of the wheel chair motor, so that the motor rotating speed is less interfered by the pavement flatness when the wheelchair moves on a complex pavement, the reliability and the service life of a product or a system can be improved, and meanwhile, the user use feeling is also improved.
Example 2
According to the embodiment of the present application, a control system of a wheelchair motor is further provided, where the system may execute the control method of the wheelchair motor in the above embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the above embodiment, and are not described herein again.
Fig. 4 is a schematic diagram of a control system for a wheelchair motor according to an embodiment of the present application, as shown in fig. 4, the system comprising:
the acquisition device 40 is used for acquiring a first motion parameter of the wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period.
And the control device 42 is connected with the acquisition device and is used for determining a motion equation based on the first motion parameter and determining a target motion parameter based on the motion equation, wherein the target motion parameter is used for representing the motion parameter at each moment in a preset time period.
And the driving device 44 is connected with the control device and is used for driving the motor of the wheelchair to move based on the target motion parameters.
Optionally, the collecting means comprises: the first sensor is positioned at the first wheelchair motor and used for acquiring a first motion parameter of the first wheelchair motor; and the second sensor is positioned at the second wheelchair motor and used for acquiring the first motion parameter of the second wheelchair motor.
Optionally, the control device comprises: the conditioning circuit is connected with the acquisition device and is used for converting the received analog quantity information of the first motion parameter into digital quantity information; and the controller is connected with the conditioning circuit and used for determining a plurality of motion coefficients based on the digital quantity information and determining a target motion parameter based on the plurality of motion coefficients.
Optionally, the power supply device is used for supplying power to the acquisition device, the control device and the driving device.
Example 3
According to the embodiment of the present application, there is also provided a control device for a wheelchair motor, where the device may perform the control method for the wheelchair motor in the above embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the above embodiment, and are not described herein again.
FIG. 5 is a schematic view of a wheelchair testing apparatus according to an embodiment of the present application, as shown in FIG. 5, the apparatus comprising:
the acquiring module 50 is configured to acquire a first motion parameter of a wheelchair motor, where the first motion parameter is a motion parameter of a start time and an end time of a preset time period.
A first determination module 52 determines an equation of motion of the wheelchair motor based on the first motion parameter.
And a second determining module 54, configured to determine a target motion parameter based on the motion equation, where the target motion parameter is used to characterize the motion parameter at each time within the preset time period.
And a control module 56 for controlling the motion of the wheelchair motor based on the target motion parameter.
Optionally, the first determining module includes: a first determination unit configured to determine a plurality of motion coefficients based on the first motion parameter; a second determination unit for determining the motion equation based on the plurality of motion coefficients.
Optionally, the first determination unit includes: a first determining subunit configured to determine a first motion coefficient based on the distance of the start time; a second determining subunit for determining a second motion coefficient based on the speed at the start time; a third determining subunit for determining a third motion coefficient based on the acceleration at the starting time.
Optionally, the second determination unit includes: a fourth determining subunit, configured to determine the first motion equation based on the first motion coefficient, the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and multiple time instants within a preset time period; a fifth determining subunit, configured to determine a second motion equation based on the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, and the sixth motion coefficient, and multiple time instants within a preset time period; and the sixth determining subunit is used for determining a third motion equation based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient and a plurality of moments in a preset time period.
Example 4
The embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method steps in the embodiment shown in fig. 1, and a specific execution process may refer to specific descriptions of the embodiment shown in fig. 1, which is not described herein again.
Example 5
Embodiments of the present application further provide a wheelchair, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the method of controlling a wheelchair motor of embodiment 1 described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (13)
1. A control method for a wheelchair motor, comprising:
acquiring a first motion parameter of a wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period;
determining an equation of motion of the wheelchair motor based on the first motion parameter;
determining a target motion parameter based on the motion equation, wherein the target motion parameter is used for representing the motion parameter of each moment in the preset time period;
and controlling the movement of the wheelchair motor based on the target movement parameters.
2. The method of claim 1, wherein determining the equation of motion of the wheelchair motor based on the first motion parameter comprises:
determining a plurality of motion coefficients based on the first motion parameter;
determining the equation of motion based on the plurality of motion coefficients.
3. The method of claim 2, wherein the first motion parameter comprises: a distance, a velocity, and an acceleration at the start time, and a distance, a velocity, and an acceleration at the end time, wherein determining the plurality of motion coefficients based on the first motion parameter comprises:
determining a first motion coefficient based on the distance of the start time;
determining a second motion coefficient based on the speed at the start time;
determining a third motion coefficient based on the acceleration at the start time;
and determining a fourth motion coefficient, a fifth motion coefficient and a sixth motion coefficient based on the motion distance, the speed and the acceleration at the starting moment, the speed and the acceleration at the ending moment and the preset time period, wherein the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient correspond to different times of the preset time period.
4. The method of claim 3,
the fourth motion coefficient dK3 is obtained by the following formula:
the fifth motion coefficient dK4 is obtained by the following formula:
the sixth motion coefficient dK5 is obtained by the following formula:
wherein the dH represents the movement distance, the dV0 represents the speed at the start time, the dV1 represents the speed at the end time, the dA0 represents the acceleration at the start time, the dA1 represents the acceleration at the end time, and the dT represents the preset time period.
5. The method of claim 2, wherein determining the equation of motion based on the plurality of motion coefficients and a plurality of preset parameters comprises:
determining a first motion equation based on the first motion coefficient, the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments in the preset time period;
determining a second motion equation based on the second motion coefficient, the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments in the preset time period;
determining a third motion equation based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments in the preset time period.
6. The method of claim 2,
the first equation of motion is obtained by the following formula:
dQ＝(dK0)+(dK1)×dT1+(dK2)×dT2+(dK3)×dT3+(dK4)×dT4+(dK5)×dT5，
the second equation of motion is obtained by the following formula:
dV＝(dK1)+2×(dK2)×dT1+3×(dK3)×dT2+4×(dK4)×dT3+5×(dK5)×dT4，
the third equation of motion is obtained by the following formula:
dA＝2×(dK2)+6×(dK3)×dT1+12×(dK4)×dT2+20×(dK5)×dT3，
wherein dT1, dT2, dT3, dT4 and dT5 represent the plurality of times.
7. A control system for a wheelchair motor comprising:
the acquisition device is used for acquiring a first motion parameter of the wheelchair motor, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period;
the control device is connected with the acquisition device and used for determining a motion equation based on the first motion parameter and determining a target motion parameter based on the motion equation, wherein the target motion parameter is used for representing the motion parameter of each moment in the preset time period;
and the driving device is connected with the control device and used for driving the wheelchair motor to move based on the target motion parameters.
8. The system of claim 7, wherein the collection device comprises:
the first sensor is positioned at a first wheelchair motor and used for acquiring a first motion parameter of the first wheelchair motor;
and the second sensor is positioned at the second wheelchair motor and used for acquiring the first motion parameter of the second wheelchair motor.
9. The system of claim 7, wherein the control device comprises:
the conditioning circuit is connected with the acquisition device and is used for converting the received analog quantity information of the first motion parameter into digital quantity information;
and the controller is connected with the conditioning circuit and used for determining a plurality of motion coefficients based on the digital quantity information and determining the target motion parameter based on the plurality of motion coefficients.
10. The system of claim 7, comprising:
and the power supply device is used for supplying power to the acquisition device, the control device and the driving device.
11. A control device for a wheelchair motor, comprising:
the wheelchair motor control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first motion parameter of a wheelchair motor, and the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period;
a first determination module for determining an equation of motion of the wheelchair motor based on the first motion parameter;
the second determination module is used for determining a target motion parameter based on the motion equation, wherein the target motion parameter is used for representing the motion parameter of each moment in the preset time period;
and the control module is used for controlling the movement of the wheelchair motor based on the target movement parameters.
12. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform a method of controlling a wheelchair motor according to any one of claims 1 to 6.
13. A wheelchair, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform a method of controlling a wheelchair motor according to any one of claims 1 to 6.
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