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標題: 以六段式驅動器實現電動輪椅之無感測控制
Study of Sensorless Control on a Power Wheelchair with a Six-Step Inverter Drive
作者: 吳宏偉
Wu, Hong-Wei
關鍵字: Six-Step Inverter Drive;六段式驅動器;Sensorless;無感測
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]邱志翔, “A Six-step Inverter Drive of a Powered Wheelchairv”Master’s degree thesis, NCHU, June 2005 [6]張定家, “Integrated Design of a Six-Step Inverter Drive and Variable Structure Current Control for a Power Wheelchair”, Master’s degree thesis, NCHU,June2006 [7]黃庚取, “Development of the Power Wheelchair Motor Controller”, Master’s degree thesis, NCHU, June 2001 [8]張簡嘉壬, “Design of Digital Controller for Powerd Mobility Devices, Master’s degree thesis”, NCKU, June 2001 [9] R.A. Cooper, “Intelligent control of power wheelchairs”, Engineering In Medicine and Biology Magazine, IEEE , Volume:14 , Issue:4 ,July-Aug. 1995, pp. 423 – 431. [10] Suzuki, R.; Tani, M.; Kobayashi, N.“Design and development of single side driven wheelchairs by using internal model control”, Proceedings of the 2002 International Conference on Control Applications, Volume: 1 , 18-20 Sept. 2002 pp. 355 - 360 vol.1 [11] R.A. Cooper, “Force sensing control for electric powere wheelchairs” ,Widman L.M.; Jones, D.K.; Robertson, R.N.; Ster, J.F., III, IEEE Transactions on Control Systems Technology, Volume: 8 , Issue: 1 , Jan. 2000 pp. 112 – 117. [12] K.E. Brown,; Inigo, R.M.; Johnson, B.W. , “Design, implementation, and testing of an adaptable optimal controller for an electric wheelchair”, IEEE Transactions on Industry Applications, Volume: 26 , Issue: 6 , Nov.-Dec. 1990 pp. 1144 – 1157. [13] R.K Prasad; J.H. Aylor; B.W. Johnson, “Fault tolerant motor drives for powered wheelchairs”; System Theory, 1990., Twenty-Second Southeastern Symposium on , 11-13 March 1990 pp. 420 – 425 [14] Liu, Z.Z.; Luo, F.I. “Nonlinear multi-input multi-output control of DC motor in field weakening region”; Electric Machines and Drives, 1999. International Conf. IEMD ''99 , 9-12 May 1999 pp. 688 – 690. [15] Khoei, A.; Hadidi, Kh. “Microprocessor based closed-loop speed control system for DC motor using power MOSFET”;Electronics, Circuits, and Systems, 1996. ICECS 96., Proceedings of the Third IEEE International Conference ,vol. 2 , 13-16 Oct. 1996 pp. 1247 - 1250 vol.2 [16] Zuo Zong Liu; Fang Lin Luo; Rashid, M.H.; “Speed nonlinear control of DC motor drive with field weakening”, IEEE Transactions on Industry Applications , vol. 39 , Issue: 2 , Mar.-Apr.2003 pp. 417 – 423 [17] Matsui, N.“DSP-based intelligent motor/motion control”, 1995. Proceedings of the American Control Conference, Volume: 1 , 21-23 June 1995 pp. 490 – 494 vol.1 [18] Jahmeerbacus, M.I.; Oolun, M.K.; Bhurtun, C.;Soyjaudah, K.M.S.;“Speed sensorless control of a converter-fed DC motor,”AFRICON, 1999 IEEE , Volume: 1 , 28 Sept.-1 Oct. 1999 pp. 453 - 456 vol.1 [19] Vas, P.; Drury, W. “Electrical machines and drives: present and future,” Electrotechnical Conference, 1996. MELECON ''96., 8th Mediterranean , Volume: 1 , 13-16 May 1996 pp. 67 - 74 vol.1 [20] Buja, G.S.; Menis, R.; Valla, M.I.;”Disturbance torque estimation in a sensorless DC drive”, IEEE Transactions on Industrial Electronics , Volume: 42 , Issue: 4 , Aug.1995 pp. 351 – 357 [21] TEXAS INSTRUMENT “TMS320LF/LC240Xa DSP Controllers Reference Guide,”Literature Number: SPRU357B Revised December 2001. [22] R.C. Dorf; R.H. Bishop “Modern Control Systems”, 5th Ed., Prentice Hall,2001 [23] Ruei-Xi Chen; Liang-Gee Chen, “System Design Consideration for Digital Wheelchair Contoller”, IEEE Transactions on Industrial Electronics, Volume: 47, Aug.2000
本論文主要先介紹輪椅的馬達系統與數學模型,了解馬達的數學模型後再做各種的控制行為。控制器方面以TMS320LF2407 為控制平台,將輸入的搖桿訊號經類比數位轉換,透過韌體的規劃判斷使用者所下的命令輸出適當的PWM 訊號,使輪椅達到不同的移動方式。在控制方面,設計兩個主要的迴路,內迴路以PI作為控制電流的控制法則,而速度控制方面,主要以電樞電壓和電流判斷輪椅轉速達成無速度感測回授,再配合可變結構控制法則來達成使用者所下的速度命令,經由此內外迴路的搭配,將使系統更加的穩定且強健。

This thesis introduces the motor system of the wheelchair and mathematics
model first mainly, and do various kinds of control behaviors after understanding the
mathematics model of the motor. The analogy joystick's signals are digitalization by
chip TMS320LF2407, the chip output suitable PWM signals commanded by user via
firmware program to arrive at different movement for power wheelchairs.
In controlling, designing two main loops, the inner loop PI is as the control law
for current, and in speed control, armature voltage and armature current can judge the
speed to arrive at sensorless control of speed. Using Variable Structure Control arrive
at the command which users assign. The system is more stable and robust via inner
and external loops.
其他識別: U0005-2906200714034100
Appears in Collections:電機工程學系所

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