手輪馬達驅動之電動輪椅的設計與製作

Design and Manufacturing of Rim Motors on Electric Wheelchair

李周翰(Zhou-Han Lee)

指導教授 ： 陽毅平

國立臺灣大學/工學院/機械工程學研究所/碩士(2007年)

https://doi.org/10.6342/NTU.2007.00138

摘要

本文研究目的為改善前兩代的手輪馬達，以提高力矩及降低力矩漣波和齒卡力矩為前提，設計出一個適合應用於電動輪椅的馬達。本文設計的馬達不需搭配減速機構即可輸出足夠的扭力來驅動電動輪椅，因此改善了傳統電動輪椅的效率，使續航力提升20~30%，重量方面也減輕不少。 馬達設計是先利用最佳化分析軟體找出最佳的尺寸，因此可以用最少的材料達到最好的性能輸出，再使用有限元素分析軟體來驗證並做細部的調整來降低齒卡力矩與力矩漣波。最後將製作好的馬達與輪椅結合，以數位控制器(FPGA)來控制兩顆直流無刷馬達，適時地調整兩輪速度而達到簡易差速的功能，並以搖桿作為人機介面來操控電動輪椅。

關鍵字

手輪馬達 ； 電動輪椅 ； 弧形磁鐵 ； 力矩漣波

並列摘要

General electric wheelchairs are driven by a high speed motor with reduction gears and differential gears. The design poses several disadvantages because the wheel-chairs are inevitably heavy, big, and less efficient. In this study, a direct-drive brush-less DC rim motor is designed to produce enough torque without other mechanical de-vices. In this way, the electric wheelchair’s functions are enhanced with light weight. The dimensions of the motor are determined by optimal analysis, so the motor is designed with the least cost. The optimal sizes are simulated and verified by finite element analysis. Furthermore, the geometry is modified to reduce the cogging torque and torque ripple. The experiment results show that the performance of the whole wheelchair system is developed, meeting the standards set by this study.

並列關鍵字

rim motor ； electric wheelchair ； arc magnet ； torque ripple

參考文獻

[26] 黃偉禎, "新式電動輪椅馬達之最佳化設計與實現," 國立台灣大學機械工程研究所碩士論文, 2005.

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