摘要：以双轮毂无刷直流电机驱动的电动轮椅驱动控制系统为研究对象，设计了一个低速低功率条件下切实可行的双电机协调控制方法。提出了一种联合制动模式，确保了速度闭环的有效性，采用数字信号处理器TMS320LF2406为主控芯片来构建控制系统，并实现了驱动控制器上车实验。实验效果稳定，为电动代步车等小功率驱动控制器提供了可行的方案。

关键词：电动轮椅；无刷直流电机；差速控制；制动；速度闭环

Abstract: This paper studied on brushless DC motor control of the dual-motor elecreic wheelchair control system, designed a two-motor coordination control scheme under the conditions of a low-speed low-power feasible. Proposed a joint braking mode, ensured the effectiveness of the closed-loop speed, used the methods of digital signal processor TMS320LF2406 to build a control system. Completed the vehicle test of a car with the controller, the experimental effect is stable. This paper provided a feasible solution to solve the electric scooter and other small power drive system using the dual-motor coordination

Key words: electric wheelchair; brushless DC motor; double motor; differential control; braking; speedloop