In order to realize the action requirements of the rear leg mechanism of wheelchair

a real-time control strategy should be designed. A compound fuzzy-PID control system for rear leg position and posture is designed by using TMS320 F2812 as the core control chip. Firstly

according to the functional requirements of the climbing wheelchair

the action requirements of the rear leg mechanism are given

and the reasonable installation position of the sensor is determined. Then

the hardware structure of the control system is built up

the fuzzy-PID control system model is set up

the control rules are made

and the software is developed. Finally

the monitoring interface of upper PC based on VC + + 6. 0 is constructed

and the control system is tested and analyzed. The experimental results show that the system reduces the overshoot and steady-state error in the regulation process to a certain extent

and improves the response speed.