- 學位論文
手輪馬達電動輪椅之控制系統整合策略
Integration of Control System Strategy for a Powered Wheelchair Driven by Rim Motors
摘要
本研究目的在於開發整合手輪馬達電動輪椅之控制系統整合策略。文中先介紹手輪馬達電動輪椅動力系統之設計概念，其將手輪馬達、機械式煞車、馬達驅動器與鋰鐵電池，整合於電動輪椅之動力輪，故一般輪椅車架只需加裝兩個動力輪即可成為電動輪椅，再經由方波與簡化弦波驅動控制，讓手輪馬達電動輪椅提升穩定性及效率。 手輪馬達電動輪椅控制系統分為主要控制系統及輔助控制系統，主要控制系統由輪椅上下控制器組成，上控制器主要為人機介面操作、藍牙連結、雙輪差速控制及速度命令下達於下控制器，藉由人性化的人機介面，讓輪椅使用者能更直覺性的操作輪椅；下控制器主要為馬達速度控制、電子式煞車控制及馬達驅動控制，達到手輪馬達穩定的動態速度控制。 輪椅輔助系統透過藍牙可讓手輪馬達電動輪椅與智慧型手機作連結，作輪椅近端的遙控，在輔助系統上有兩個估測數值，一個是手推次數，另一個是推行距離，這兩個數值藉由手輪馬達輪椅上的感測器及演算法的設計來作估測，透過所開發的輔助系統的估測數值讓醫護人員能更了解輪椅使用者的使用狀況。 本研究所提出的閉迴路速度及緩起動控制策略，經由實驗比較後，確實有提升輪椅馬達之暫態響應及穩態響應特性，輔助控制系統中的手推次數與推行距離，由演算法設計，與實際值比較後，在8%誤差值內，達成準確的估測值。
並列摘要
The main objective of this study was to develop and integrate the control system of rim motor electric wheelchair. In this paper, the design concept of drive system of rim motor electric wheelchair was introduced first, in the system, it integrated rim motor, mechanical brake, motor driver and Li-Fe battery into the power wheel of electric wheelchair, therefore, for general wheelchair rack, only two power wheels need to be installed to become electric wheelchairs, then, through the drive control of square wave and simplified sine wave, the stability and efficiency of the rim motor electric wheelchair was enhanced. The control system of rim motor electric wheelchair can be divided into main control system and assisted control system. The main control system was formed by upper and lower controller of the wheelchair, meanwhile, the upper controller was mainly of human machine interface operation, Bluetooth connection, meanwhile, the differential speed control and speed order of both wheels was put on the lower controller, through humanized human machine interface, the wheelchair user can operate the wheelchair more intuitively; moreover, the lower controller was mainly of motor speed control, electronic brake control and motor drive control to achieve the stable dynamical speed control for the rim motor. The wheelchair assisted system, through Bluetooth, can let rim motor electric wheelchair be connected with smart phone to make short-distance remote control on the wheelchair. On the assisted system, there were two estimated values, one was hand-push count, another was push distance, and these two values were estimated through the sensor on the rim motor wheelchair and the design of algorithm, through the estimated values on the developed assisted system, medical care personnel can understand better the usage situation of the wheelchair user. For the closed loop speed and slow start control strategy proposed in this study, after experimental comparison, it was confirmed that they indeed can enhance the transient response and steady-state response characteristic of wheelchair motor, for the hand-push count and push distance in the assisted control system, through algorithm design and comparison with real values, the error was within 8%, that is, accurate estimated values were achieved.