CN113018018B - 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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- CN113018018B CN113018018B CN202110225467.6A CN202110225467A CN113018018B CN 113018018 B CN113018018 B CN 113018018B CN 202110225467 A CN202110225467 A CN 202110225467A CN 113018018 B CN113018018 B CN 113018018B
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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 for 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 the motion parameter of each moment in a preset time period; and controlling the wheelchair motor to move based on the target movement parameter. Therefore, the embodiment of the application can solve the technical problem that the motor shakes more when the wheelchair motor turns at a low speed due to larger torque pulsation generated when the wheelchair motor commutates in the related art.
Description
Technical Field
The application relates to the field of motor control, in particular to a wheelchair motor control method, a wheelchair motor control system, a wheelchair motor control device and a wheelchair.
Background
At present, the traditional electric wheelchair is simple to control, when a brushless motor control system used in the market is commonly operated, particularly in low-speed turning, and shake is obvious when an uneven road surface is encountered, particularly when a DC brushless motor is in phase change, due to the existence of an inductor, the current rising and falling rates of a motor winding are unequal in phase change, so that larger torque pulsation is caused, the wheelchair is enabled to run at a low speed or turn at a low speed, shake of a wheelchair motor is obvious, and comfortableness and popularization are seriously influenced.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a control method, a control system and a control device of a wheelchair motor and the wheelchair, which at least solve the technical problem that the motor shakes more when the wheelchair motor turns at a low speed due to larger torque pulsation generated when the wheelchair motor commutates in the related art.
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 the motion parameter of each moment in a preset time period; and controlling the wheelchair motor to move based on the target movement parameter.
Optionally, determining the equation of motion of the wheelchair motor based on the first motion parameter includes: 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 includes: distance, speed and acceleration at a start time, and distance, speed and acceleration at an end time, wherein determining a plurality of motion coefficients based on the first motion parameter comprises: determining a first motion coefficient based on the distance from the start time; determining a second motion coefficient based on the speed of 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 time, the speed and the acceleration at the ending time and the preset time period, wherein the times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different.
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 represents the movement distance, dV0 represents the speed at the start time, dV1 represents the speed at the end time, dA0 represents the acceleration at the start time, dA1 represents the acceleration at the end time, and dT represents the preset time period.
Optionally, determining the equation of motion based on the plurality of motion coefficients and the plurality of preset parameters includes: determining a first equation of motion 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 within a preset time period; determining a second equation of motion 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 within a preset time period; a third equation of motion is determined based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within a preset time period.
Alternatively, the first equation of motion is derived by:
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 a plurality of times.
According to another aspect of the embodiments of the present application, there is also provided a control system for a wheelchair motor, the system comprising: the acquisition device is used for acquiring first motion parameters of the wheelchair motor, wherein the first motion parameters are motion parameters 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 is used for driving the wheelchair motor to move based on the target movement parameters.
Optionally, the collecting device includes: the first sensor is positioned at the first wheelchair motor and is used for acquiring first motion parameters of the first wheelchair motor; the second sensor is positioned at the second wheelchair motor and is used for acquiring the first motion parameters of the second wheelchair motor.
Optionally, the control device includes: the conditioning circuit is connected with the acquisition device and 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 device for a wheelchair motor, the device including: the wheelchair 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, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period; the first determining module is used for determining a motion equation of the wheelchair motor based on the first motion parameter; the second determining module is used for determining a target motion parameter based on a motion equation, wherein the target motion parameter is used for representing the motion parameter of each moment in a preset time period; and the control module is used for controlling the wheelchair motor to move based on the target movement parameters.
According to another aspect of the embodiments of the present application, there is further provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, the apparatus on which the computer readable storage medium is controlled to execute the above-described method for controlling a wheelchair motor.
According to another aspect of an embodiment of the present application, there is also provided a wheelchair including: a processor and a memory; the memory stores a computer program adapted to be loaded by the processor and to perform the above-described control method of the wheelchair motor.
In the embodiment of the application, first motion parameters of a wheelchair motor are acquired, then a motion equation of the wheelchair motor is determined based on the first motion parameters, 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 through the motion parameters of 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 of a plurality of times in the preset time period is fulfilled, the wheelchair motor is controlled more finely in the preset time period, the wheelchair motor rotates more smoothly, the influence caused by speed fluctuation is reduced, the technical effect that the wheelchair operates more stably when the wheelchair turns at a low speed or on an uneven road surface is realized, and the technical problem that the torque pulsation generated by the wheelchair motor in the prior art is larger when the wheelchair turns at a low speed is solved, and the motor shake is larger when the wheelchair turns at the low speed 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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method of controlling a wheelchair motor in accordance with an embodiment of the present application;
FIG. 2 is a flow chart of an alternative wheelchair motor control method in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative wheelchair motor control system in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram of a control system for a wheelchair motor in accordance with 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 that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application as detailed in the accompanying claims.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise 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. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
Example 1
According to an embodiment of the present application, there is provided a method of controlling a wheelchair motor, it being noted that the steps shown in the flowchart of the drawings may be performed 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 performed in an order other than this.
Fig. 1 is a flowchart of a control method of a wheelchair motor according to an embodiment of the present application, as shown in fig. 1, the method may include the steps of:
step S102, a first motion parameter of a wheelchair motor is acquired.
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 in a preset time period, where the obtained first preset parameter may be analog quantity information.
In an alternative embodiment, the wheelchair may obtain the first motion parameter during movement by a sensor disposed on the wheelchair motor, where 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.
Step S104, determining a motion equation of the wheelchair motor based on the first motion parameter.
The above steps may determine a plurality of motion coefficients by using the obtained first motion parameter and a preset value, and determine a motion equation of the wheelchair motor based on the determined plurality of motion coefficients and the preset value, where the preset value is an optimal constant value obtained after a plurality of tests, and the motion equation is used to describe an 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, where the first motion coefficient dK0 is determined by the distance from the start time, the second motion coefficient dK1 is determined by the speed of the start time, the third motion coefficient dK2 is determined by the acceleration of the start 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 2, 3 and 4 respectively, the constant term in the formula is the preset value, 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, where dK0 to dK5 are determined, the first to third equations of motion can be derived:
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，
wherein dT1, dT2, dT3, dT4 and dT5 represent a plurality of times.
Step S106, determining the target motion parameters based on the motion equation.
The target motion parameters are used for representing motion parameters of each moment in a preset time period.
The target motion parameter in the above step may be a distance, a speed, and an acceleration at each of a plurality of moments in a preset time period.
Step S108, controlling the wheelchair motor to move based on the target movement parameters.
In an alternative embodiment, after the target motion parameter is calculated in the controller, a driving circuit sends a control command to control the motor to move.
In an alternative embodiment, the wheelchair is controlled to move by manipulating the rocker in the moving process, the controller receives signals and then sends out instructions to enable the wheelchair to move according to the speed and the acceleration of the instructions, meanwhile, the sensor sends acquired distance, speed and acceleration information in a preset time period to the controller after passing through the conditioning circuit, the controller starts to calculate based on the distance, speed and acceleration information in the preset time period, a plurality of motion coefficients are determined, a motion equation is obtained through the plurality of motion coefficients, then a target motion parameter is determined, and the driving circuit receives the target motion parameter to control the wheelchair motor to move.
In the embodiment of the application, first motion parameters of a wheelchair motor are acquired, then a motion equation of the wheelchair motor is determined based on the first motion parameters, 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 through the motion parameters of 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 of a plurality of times in the preset time period is fulfilled, the wheelchair motor is controlled more finely in the preset time period, the wheelchair motor rotates more smoothly, the influence caused by speed fluctuation is reduced, the technical effect that the wheelchair operates more stably when the wheelchair turns at a low speed or on an uneven road surface is realized, and the technical problem that the torque pulsation generated by the wheelchair motor in the prior art is larger when the wheelchair turns at a low speed is solved, and the motor shake is larger when the wheelchair turns at the low speed is solved.
Optionally, determining the equation of motion of the wheelchair motor based on the first motion parameter includes: 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 alternative embodiment, the sensor obtains direction information and position information of the wheelchair in a preset time period, wherein the obtained direction information and position information are analog quantity information, the obtained 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 a plurality of motion coefficients are determined through operation in the controller, a motion equation is determined based on the plurality of motion coefficients.
Optionally, the first motion parameter includes: distance, speed and acceleration at a start time, and distance, speed and acceleration at an end time, wherein determining a plurality of motion coefficients based on the first motion parameter comprises: determining a first motion coefficient based on the distance from the start time; determining a second motion coefficient based on the speed of 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 time, the speed and the acceleration at the ending time and the preset time period, wherein the times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different.
The distance, speed and acceleration at the start time are respectively represented by dQ0, dV0 and dA0, and the distance, speed and acceleration at the end time are respectively represented by dQ1, dV1 and dA2, wherein the first motion coefficient dk0=dq0, the second motion coefficient dk1=dv 0 and the third motion coefficient dk2=da0/2.
Alternatively, the fourth motion coefficient dK3, the fifth motion coefficient dK4, and the sixth motion coefficient dK5 may be calculated by the formula of step S104 described above.
Optionally, determining the equation of motion based on the plurality of motion coefficients and the plurality of preset parameters includes: determining a first equation of motion 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 within a preset time period; determining a second equation of motion 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 within a preset time period; a third equation of motion is determined based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within a preset time period.
Alternatively, the first motion equation, the second motion equation, and the third motion equation may be calculated by using the formula, where the specific formula is the formula described in step S104.
A preferred embodiment of the present application 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, initializing;
step S202, calculating the distance, the speed and the acceleration at the starting time and the ending time;
step S203, calculating the coefficients of the fifth polynomial and determining an interpolation motion equation;
in step S204, the real-time speed, acceleration and distance are calculated through a penta-polynomial equation of motion.
When the wheelchair moves on a longer uneven road surface, the speed in the motor movement process will have larger fluctuation under the combined action of the excitation and the load of the road surface, the normal travel route is influenced, and the user also feel uncomfortable, at this time, if the wheelchair is controlled to move through the Hall rocking bar, as shown in fig. 3, in the scheme of the application, the power supply device 30 can be a battery with 8V or 24V, and comprises a DC/DC (direct current/direct current) module, which is used for converting the working voltage adapted to 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 collect the movement parameters, collect the analog quantity information, convert the collected analog quantity information into the digital quantity information through the conditioning circuit 31, send the digital quantity information to the controller, initialize the controller 32, the distance, speed and acceleration of the starting moment and the ending moment obtained after calculation, further, the calculation obtains a five-time polynomial coefficient and determines an interpolation motion equation (namely the first motion equation to the third motion equation), the real-time speed, the acceleration and the distance of 5 moments in a preset time period are calculated through the five-time polynomial motion equation, then a driving circuit sends a control instruction to control a first motor and a 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 link directly influences the running quality of the whole system, the driving circuit is used for distributing the power of a power supply to each phase winding on a brushless DC motor stator in a certain logic relationship to realize the control of a wheelchair motor, so that the rotation speed of the motor is less disturbed by the road surface flatness when the wheelchair moves on a complex road surface, the reliability and the service life of the product or the system can be improved, and the use somatosensory of a user can be improved.
Example 2
According to the embodiment of the present application, a control system for a wheelchair motor is further provided, where the system may execute the control method for a wheelchair motor in the foregoing embodiment, and the specific implementation manner and the preferred application scenario are the same as those of the foregoing embodiment, and are not described herein.
Fig. 4 is a schematic diagram of a control system of a wheelchair motor according to an embodiment of the present application, as shown in fig. 4, the system comprising:
the acquisition device 40 is configured to acquire a first motion parameter of the wheelchair motor, where the first motion parameter is a motion parameter of a start time and an end time of a preset time period.
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 wheelchair motor to move based on the target movement parameters.
Optionally, the collecting device includes: the first sensor is positioned at the first wheelchair motor and is used for acquiring first motion parameters of the first wheelchair motor; the second sensor is positioned at the second wheelchair motor and is used for acquiring the first motion parameters of the second wheelchair motor.
Optionally, the control device includes: the conditioning circuit is connected with the acquisition device and 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, a control device for a wheelchair motor is provided, where the device may execute the control method for a wheelchair motor in the above embodiment, and the specific implementation manner and the preferred application scenario are the same as those of the above embodiment, and are not described herein.
Fig. 5 is a schematic view of a wheelchair testing device in accordance with an embodiment of the present application, as shown in fig. 5, the device comprising:
the obtaining module 50 is configured to obtain a first motion parameter of the wheelchair motor, where the first motion parameter is a motion parameter of a start time and an end time of a preset time period.
The first determination module 52 is configured to determine an equation of motion of the wheelchair motor based on the first motion parameter.
A second determining module 54 is configured to determine a target motion parameter based on the motion equation, where the target motion parameter is used to characterize a motion parameter at each time within a preset time period.
A control module 56 for controlling wheelchair motor movement based on the target movement 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; and a second determination unit configured to determine a motion equation based on the plurality of motion coefficients.
Optionally, the first determining unit includes: a first determination subunit configured to determine a first motion coefficient based on a distance from a start time; a second determination subunit configured to determine a second motion coefficient based on the speed at the start time; and a third determination subunit configured to determine a third motion coefficient based on the acceleration at the start time.
Optionally, the second determining unit includes: a fourth determination subunit configured to determine a first equation of motion 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 within a preset time period; a fifth determining subunit configured to determine a second equation of motion 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 within a preset time period; a sixth determination subunit configured to determine a third equation of motion based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within 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, where the instructions are adapted to be loaded by a processor and execute the steps of the method shown in the embodiment of fig. 1, and the specific execution process may refer to the specific description of the embodiment shown in fig. 1, which is not repeated herein.
Example 5
The embodiment of the application also provides a wheelchair, which comprises: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method of controlling the wheelchair motor of embodiment 1 described above.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A control method of 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 moment and an ending moment of a preset time period;
determining an equation of motion of the wheelchair motor based on the first motion parameter, wherein the first motion parameter comprises: the distance, speed and acceleration of the start time and the distance, speed and acceleration of the end time determine an equation of motion of the wheelchair motor based on the first motion parameter, comprising:
determining a first motion coefficient based on the distance from the start time; determining a second motion coefficient based on the speed of the start time; determining a third motion coefficient based on the acceleration at the start time; 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 time, the speed and the acceleration at the ending time and the preset time period, wherein the times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different;
determining a first equation of motion 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 within the preset time period; determining a second equation of motion 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 within the preset time period; determining a third equation of motion based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within the preset time period;
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 motion parameter at least comprises distance, speed and acceleration;
and controlling the wheelchair motor to move based on the target movement parameter.
2. The method according to claim 1, characterized in that it comprises:
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 dH represents the movement distance, dV0 represents the speed at the start time, dV1 represents the speed at the end time, dA0 represents the acceleration at the start time, dA1 represents the acceleration at the end time, and dT represents the preset time period.
3. The method according to claim 1, characterized in that it comprises:
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 time instants, wherein dK0 represents a first motion coefficient, dK1 represents a second motion coefficient, dK2 represents a third motion coefficient, dK3 represents a fourth motion coefficient, dK4 represents a fifth motion coefficient, and dK5 represents a sixth motion coefficient.
4. A control system for a wheelchair motor, comprising:
the device comprises an acquisition device, a control device and a control device, wherein the acquisition device is used for acquiring first motion parameters of a wheelchair motor, wherein the first motion parameters are motion parameters of a starting time and an ending time of a preset time period;
the control device 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 of each moment in the preset time period and at least comprises distance, speed and acceleration;
the driving device is connected with the control device and is used for driving the wheelchair motor to move based on the target movement parameter;
wherein the control device is further configured to determine a first motion coefficient based on the distance from the start time; determining a second motion coefficient based on the speed of the start time; determining a third motion coefficient based on the acceleration at the start time; 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 time, the speed and the acceleration at the ending time and the preset time period, wherein the times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different; determining a first equation of motion 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 within the preset time period; determining a second equation of motion 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 within the preset time period; a third equation of motion is determined based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within the preset time period.
5. The system of claim 4, wherein the acquisition device comprises:
the first sensor is positioned at the first wheelchair motor and is used for acquiring first motion parameters of the first wheelchair motor;
the second sensor is positioned at the second wheelchair motor and used for acquiring the first motion parameters of the second wheelchair motor.
6. The system of claim 4, wherein the control means comprises:
the conditioning circuit is connected with the acquisition device and used for converting the received analog quantity information of the first motion parameters 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 parameters based on the motion coefficients.
7. The system according to claim 4, comprising:
and the power supply device is used for supplying power to the acquisition device, the control device and the driving device.
8. A control device for a wheelchair motor, comprising:
the wheelchair 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, wherein the first motion parameter is a motion parameter of a starting time and an ending time of a preset time period;
the first determining module is used for determining a motion equation of the wheelchair motor based on the first motion parameter;
the second determining 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 motion parameter at least comprises distance, speed and acceleration;
the control module is used for controlling the wheelchair motor to move based on the target movement parameter;
wherein the first determining module is further configured to determine a first motion coefficient based on the distance from the start time; determining a second motion coefficient based on the speed of the start time; determining a third motion coefficient based on the acceleration at the start time; 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 time, the speed and the acceleration at the ending time and the preset time period, wherein the times of the preset time period corresponding to the fourth motion coefficient, the fifth motion coefficient and the sixth motion coefficient are different; determining a first equation of motion 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 within the preset time period; determining a second equation of motion 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 within the preset time period; a third equation of motion is determined based on the third motion coefficient, the fourth motion coefficient, the fifth motion coefficient, the sixth motion coefficient, and a plurality of moments within the preset time period.
9. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to carry out a method of controlling a wheelchair motor as claimed in any one of claims 1 to 3.
10. 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 the method of controlling a wheelchair motor as claimed in any one of claims 1 to 3.
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| WO2019071505A1 (en) * | 2017-10-12 | 2019-04-18 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for braking control |
| CN109960157A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | Smoothing processing method, device, terminal device and the storage medium of steering engine movement |
| CN112566603B (en) * | 2018-09-07 | 2023-04-11 | 苏州金瑞麒智能科技有限公司 | Wheelchair structure parameter self-adaptive adjusting method, system and storage medium |
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