參考模式適應控制之手輪馬達電動輪椅力矩電流控制器設計與驅動

Design of Current Torque Control Based on MRAC for Rim Motor Driver of Powered Wheelchair

林暉翔(Hui-Hsiang Lin)

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(2018年)

https://doi.org/10.6342/NTU201803655

摘要

本文研究目的為開發智慧型永磁無刷外轉式馬達電動輪椅，提升驅動器運算效能與電路硬體架構。新一代驅動控制器系統包含驅動策略整合並加入參考模式自適應控制於電流環力矩控制，改善電動輪椅在負載變化與參數不穩定時的性能與降低人工調適時間。
　新一代的馬達驅動微控制器晶片採用德州儀器32位元的F28069， 本文中分建立兩套馬達驅動架構；數位訊號霍爾感測器回授的有感測器六步方波驅動與無感測器磁場導向控制的空間向量調變。前者調變電壓採用速度控制，後者採用派克變換後交軸的電流控制。考慮電動輪椅開發階段後續發展與動力輪模組概念，本文在交軸電流控制端導入參考模式自適應控制取代常見的比例積分控制器。將演算法以模型化基礎設計方式，透過MATLAB-SIMULINK模擬並生成符合編譯器的程式，導入整車驅動架構。
實驗階段，以本實驗室第四代電動輪椅為基礎，驅動馬達探討兩種驅動策略的效率與特性；因應需求訂定適合性能，驗證變化參數下不同馬達在空載與負載下，參考模式適應控制器相較於同套比例積分控制器有較好的控制結果。

關鍵字

電動輪椅 ； 參考模式自適應控制 ； 磁場導向空間向量調變 ； 模型化基礎設計

並列摘要

The purpose of the thesis is to develop powered　electric wheelchair based on the outer rotor of permanent-magnet brushless motor. This research improves the controller driving efficiency and the hardware frame of drive circuits. The new generation controller system, the Model Reference Adaptive Control (MRAC), is implemented in the torque control of current loop. This step is crucial for solving the uncertainty parameters in different motor models with various loading, and reducing the time of manual adjustments.
　　The microcontroller chips for the new generation motor drivers are equipped Texas Instruments MCU, 32-bit, F28069. Two driving strategies are introduced: six-step square wave pwm with digital signal hall sensor feedback and field-oriented control (FOC) with Space Vector PWM. The former modulates voltage and adopts speed control, whereas the latter adopts the Park's Transformation to control the current of the q-axis.
　 Considering the follow-up development of electric wheelchairs and the concept of a power rim motor module, this paper introduces and replaces the common proportional-integral (PI) controller with MRAC at the current of dq-axis. With the concept of model based design, using MATLAB Simulink to simulation and generate the appropriate compiler code, it is finally importing to the entire the controlling strategy of wheelchair driving program.
　In the experimental stage, taking the fourth generation of electric wheelchairs
from our laboratory as the basis, the efficiency and characteristics of the two drive strategies of driving motor are investigated, operational adjustments are made taking account of user’s needs, appropriate response at no-load condition are determined to verify motors and loading. The result shows that MRAC demonstrates better controlling performance than the proportional-integral controller, which is capable of varying parameters of the plants.

並列關鍵字

rim motor ； electric wheelchair ； MRAC ； six-step square wave ； SVPWM ； Model-Based design.

參考文獻

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