手輪馬達電動輪椅控制器產品化設計、製造與驗證

Product design, manufacture and verification of controllers for a wheelchair powered by rim motors

涂凱翔(Kai-Hsiang Tu)

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(2010年)

https://doi.org/10.6342/NTU.2010.10725

摘要

本文研究目的為開發產品化的電動輪椅控制器。文中先簡介無刷直流馬達運轉原理以及驅動方式，分析並比較不同驅動方法的優、缺點，得出使用在手輪馬達電動輪椅控制器裡最佳的驅動方法為簡化弦波電流驅動，此種驅動方法相較於一般弦波驅動方式，可以在有效利用電源電壓的條件下減少百分之三十三的切換損失，經實驗證實使用簡化弦波驅動可以有效提升手輪馬達的效率。
　　電動輪椅控制器設計參照CNS14964規範，使用微控制器與整合式驅動晶片開發，將控制架構分為上、下控制器，上控制器負責人機介面訊號接收、差速控制訊號計算與安全限制，下控制器接收各自的控制訊號並使用簡化弦波驅動使馬達平順且安靜的運轉，並依照規範測量並比較電動輪椅續航力，可以得出在相同的電池容量下比市面上已有產品擁有兩倍的行駛距離。

關鍵字

電動輪椅控制器 ； 手輪馬達 ； 無刷直流馬達 ； CNS14964 ； 馬達驅動

並列摘要

This study aims to develop an electric wheelchair controller. First, the operational theory and driving method of a brushless DC motor are illustrated. Next, it is argued that the best way of driving a wheelchair powered by a rim motor is the simplified sinusoidal current control method. It is shown that the simplified sinusoidal current control method can significantly increase the efficiency of the rim motor. Compared with other methods, the proposed method can utilize full supply voltage and reduce switching loss by 33%.
Microcontrollers and integrated driver ICs are used in the development of wheelchair controllers. The controller design follows the CNS14964 specifications and is divided into upper and lower controllers. The upper controller is responsible for human interface signals, differential speed control, and safety mechanisms. The lower controllers receive commands from the upper controller and use the simplified sinusoidal current control method to make the rim motor run smoothly and quietly. The test method of the driving range of the CNS14964 was used, and the driving range is much longer than a normal electric wheelchair with the same battery capacity.

並列關鍵字

Wheelchair controller ； Rim motor ； Brushless DC motor ； CNS14964 ； Motor driver

參考文獻

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[59] 蔡豐州, "創新電動輪椅之手輪馬達最佳化設計與應用," 碩士論文, 國立台灣大學, 2010.

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