Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6417
標題: 電動輪椅六段式雙馬達驅動與可變結構電流控制之整合設計
Integrated Design of a Six-Step Inverter Drive and Variable Structure Current Control for a Powered-Wheelchair
作者: 張定家
Chang, Ding-Jia
關鍵字: Six-Step Inverter Drive;六段式開關驅動器;Powered-Wheelchair;VSC;電動輪椅;可變結構控制
出版社: 電機工程學系所
引用: [1]董勝源,DSP TMS320LF2407與C語言控制實習,長高科技圖書,民國九十三年。 [2]王金標,電動機控制/馬達驅動器理論及實作,全威圖書,民國88年。 [3]王璧超,馬達控制原理概論,儒林圖書,民國77年。 [4]陳永平,可變結構控制設計,全華圖書,民國88年。 [5] R. A. Cooper, “Intelligent control of power wheelchairs, ” Engineering In Medicine and Biology Magazine,IEEE , Vol.14 , Issue:4 ,July-Aug. 1995, pp. 423 – 431. [6] R. A. Cooper, “Force sensing control for electric power wheelchairs,” Widman L.M.; Jones, D.K.; Robertson, R.N.; Ster, J.F., III; Control Systems Technology, IEEE Transactions on ,Vol. 8 , Issue: 1 , Jan. 2000 pp. 112 – 117. [7] Yasuhiko Dote, “Servo Motor and Motion Control Using Digital Signal Processors” Prentice Hall, New Jersey,1991. [8] M.I. Bresler, “ The Tamara system for control of mobility , communication , and environment,” Proceedings of the Johns Hopkins National Search , pp. 121 –123,1992. [9] W. Cannon , “Computer system for power wheelchair,” Proceedings of the Johns Hopkins National Search ,pp.151 –152, 1992. [10] D.P. Miller and M.G. Slack , “ Increasing access with a low-cost robotic wheelchair,” Proceedings of the IEEE/RSJ/GI International Conference ,vol.3 , pp.1663 -1667, 1994. [11] R.A. Cooper, “ Electromagnetic compatibility of power wheelchairs, ”Proceedings of the 16th Annual International Conference of the IEEE , vol.2 , pp. 982 –983 ,1994. [12] T. Gomi and K. Ide , “The development of an intelligent wheelchair, ”Proceedings of the IEEE , pp. 70 –75,1996. [13] A.A. El-Samahy, “Speed control of DC motor using adaptive variable structure control , ” Power Electronics Specialists Conference, 2000. PESC 00. 2000 IEEE 31st Annual ,vol.3 ,pp. 1118 -1123, 2000. [14] M.A. Ghazy and A.A. El-Samahy, “ Adaptive discrete variable structure control, ” Proceedings of the IEEE International Symposium, vol.3 ,pp. 1294 -1299 , 1999. [15] Longfu Luo and Ziya Wang, “ A practical microcomputer system for single-phase brushless DC motor , ” Proceedings Power Electronics and Motion Control Conference, 2000.. PIEMC 2000. The Third International, vol. 3 , pp. 1271 -1274, 2000. [16] Jang Wang , Jiajun Wang, Zhongtang Zhao and Xiangyang Fei , “ The application of optimal sliding mode control in DC motor, ” Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress ,vol.4 , 2000 ,pp. 3001 -3004. [17] H.R. Singh , A. Mobin ,S. Kumar, S. Chauhan and S.S. Agrawal, “ Design and development of voice/joystick operated microcontroller based intelligent motorised wheelchair”, Proceedings of the IEEE Region 10 Conference , vol.2,pp.1573 -1576 , 1999. [18] Jun-Uk Chu, In-Hyuk Moon, Gi-Won Choi, Jei-Cheong Ryu, Mu-Seong Mun, “ Design of BLDC motor controller for electric power wheelchair “, Mechatronics, 2004. ICM ’04. Proceedings of the IEEE International Conference on 3-5 June 2004 pp. 92 - 7e. [19] Wu-Chung Su, Sergey V. Drakunov, Ümit Özguner, “ An O(T2) Boundary Layer in Sliding Mode for Sampled-Data Systems “, IEEE Transactions on Automatic Control, vol. 45, NO. 3, March 2000, pp. 482-485.
摘要: 
本論文主要發展電動輪椅控制器,改良六段式驅動電路原本驅動方式造成之缺陷,解決了流經功率開關電流量不平均及轉向變換產生非預期加速現象的問題,並利用數學模擬軟體分析馬達動態行為。以TMS320LF2407為控制平台,將搖桿訊號經數位類比轉換,透過韌體規劃判斷使用者所下之控制命令而輸出適當的PWM訊號。在回授控制方面,可變結構對雜訊的穩健性提供閉迴路電流控制器設計的重要方向,對於不同的路面狀況可得到理想的系統響應。
本論文結合程式韌體與硬體,自製完成基本型電動輪椅控制,整合搖桿、控制電路、平台與驅動器並假設在輪椅機構上,此基本型將做為未來發展的基礎。

This thesis mainly develops the control system of the powered-wheelchair including the driver circuit and the controller. Here, we provide a new drive, it solves the unequally currents via each power-MOSFET and unexpected speed-up while user changes the power wheelchair's direction, system response are also analysed by Matlab. The analogy joystick's signals are digitalization by chip TMS320LF2407, the chip output suitable PWM signals that commanded by user via firmware program. To design the feedback controller, VSC has been introduced because of the robust to noise, it makes the advantage of close-loop current control and will gain perfect system response on different road surface.
This thesis links the firmware and the hardware to implement the controller of the basic powered-wheelchair. We also integrated the joystick, control circuit, controller and drive on wheelchair''s mechanism. In the future, it will develop base on this basic powered-wheelchair.
URI: http://hdl.handle.net/11455/6417
其他識別: U0005-1606200623465300
Appears in Collections:電機工程學系所

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