臺灣博碩士論文加值系統

本文研究目的在於開發手輪馬達電動輪椅之控制器與驅動器。文中先介紹直流無刷馬達之驅動原理與整車架構，整車架構之特色在於，由驅動器、控制器與馬達所組合成一動力輪模組，並將此動力輪模組安裝在普通輪椅車架，即可變為電動輪椅。
本研究著重於設計動力輪控制器與直流無刷馬達驅動器，目的為縮小開發驅動板與控制卡之體積，而為求日後更換控制卡且驅動器可以繼續沿用之需求，自製驅動板與控制卡分離設計。驅動器的設計功能包含，電源供應與電池保護功能、霍爾訊號調整、電流取樣，其中電源保護功能包含電源緩開啟與防反電動勢回充至電池，前者設計目的在於避免電子元件在開電瞬間受損，且具有保險絲功能，當馬達訊號異常，能夠及時中斷電源供應，避免驅動板損壞；後者設計目的在於，斷電狀態中實行手推模式產生之感應電動勢，避免回充至電池，造成電池損壞。控制器設計著重在下控制器之硬體設計，採用德州儀器所開發之TMS320F28069微控制晶片。
整車控制硬體由自製的動力輪控制器與整車控制器Arduino Due結合，其中整車控制器負責差速控制、雙輪耦合、人機介面訊號接收以及下達速度命令給動力輪控制器；動力輪控制器負責接收速度命令與控制訊號進行六步方波與向量弦波驅動控制。
本研究使用磁場導向控制架構，實行力矩控制，提升馬達效率、改善起步加速度與起步電流，並與六步方波驅動法進行比較。

The main objective of this study is to develop the controller and driver of the electric wheelchair driven by rim motors. First, this study introduces the driven principle of brushless DC motor and the structure of electric wheelchair, the characteristics of the structure are power wheel moudles composed of driver, controller and motor, when power wheel moudles are installed on the frame of the ordinary wheelchair, and it is turned into electric wheelchair.
In this study, designing power wheel controller and BLDC motor driver for the purpose of reducing the volume of development driver board and development control card, on the other hand, the method of driver board and control card separation-designed which can meet the need for the driver to continue to use when replacing the other control card. The functions of driver designed including the function of power supply and protection, adjustment of hallsensor signal, and current sensing. And the function of power protection contains power soft starting and back EMF charging to battery, the former one avoids the damage of electronic components when the moment of power on, and it exists as fuse that is able to break off power supply in case of driver board damaged when generating wrong signals ; the latter one avoids that back EMF is returned to battery causes battery damage when hand-pushing is implemented at power off state. The design of under controller is focus on hardware, and TMS320F28069 microcontroller developed by Texas Instruments being used.
Controllers on the powered wheelchair are the self-made power wheel controller and main controller “Arduino Due”. The main controller is in charge of differential speed control, optimal cross-coupling control, human interface signal, and transferring speed command to the power wheel controller. The power wheel controller is in charge of receiving speed command and control signals for six-step square-waves control and Space Vector Pulse Width Modulation control .
In this study, using field-oriented control and torque control to enhance motor efficiency and improve acceleration when starting up, and compare with six-step square-waves control finally.

口試委員會審定書 I
中文摘要 II
ABSTRACT IV
目錄 VI
圖目錄 X
表目錄 XVI
符號表 XVII
第1章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 章節摘要 8
第2章 直流無刷馬達驅動原理 10
2.1 直流馬達運作原理 10
2.2 霍爾感測器 14
2.3 無刷直流馬達三相Y接反電動勢波形與霍爾感測器位置[35] 17
2.3.1 反電動勢波形 18
2.3.2 霍爾訊號與反電動勢 24
2.3.3 霍爾感測器安裝位置 28
2.4 直流無刷馬達方波驅動控制 30
2.4.1 三相Y接相電壓與端電壓關係 30
2.4.2 脈衝寬度調變控制原理 33
2.4.3 六步方波驅動 35
2.5 直流無刷馬達空間向量波寬調變驅動控制 39
2.5.1 旋轉電流向量 39
2.5.2 座標轉換[34] 42
2.5.3 SVPWM 49
第3章 無刷直流馬達電動輪椅整車控制系統 56
3.1 無刷直流馬達 56
3.1.1 手輪馬達電氣動態方程式 56
3.1.2 手輪馬達機械動態方程式 59
3.1.3 手輪馬達簡化模型 62
3.2 整車控制系統架構 65
3.2.1 上控制器 66
3.2.2 下控制器 75
3.2.3 六步方波驅動轉速估測 81
3.2.4 無刷直流馬達速度控制器設計 82
3.2.5 無感測器角度估測 84
第4章 控制器硬體架構與縮小化設計 87
4.1 下控制器模組設計動機 87
4.2 驅動器設計 88
4.2.1 開關元件 89
4.2.2 開關元件驅動電路 90
4.2.3 電源電路 96
4.2.4 防反電動勢回充電路 101
4.2.5 電源緩開啟電路 102
4.2.6 霍爾感測器電路 104
4.2.7 電流取樣電路 107
4.3 下控制器設計 111
4.3.1 微控制器周邊硬體電路 112
4.3.2 逐次逼近寄存型類比數位轉換器 117
4.3.3 異步串行通信(SCI) 120
第5章 實驗結果 125
5.1 實驗設備與介紹 125
5.2 驅動器功能驗證 128
5.2.1 Mos開關 128
5.2.2 電源緩開啟 131
5.2.3 防反電動勢回充 132
5.2.4 電流感測電路 134
5.2.5 霍爾感測器 137
5.3 下控制器功能驗證 139
5.3.1 六部方波驅動 139
5.3.2 向量弦波驅動 141
5.4 整車控制系統功能驗證 142
5.4.1 六部方波驅動PI速度控制器驗證 142
5.4.2 六步方波驅動空載無緩啟動 144
5.4.3 六步方波驅動空載有緩啟動 145
5.4.4 六步方波驅動負載平地測試 147
5.4.5 六步方波驅動負載上坡起步測試 149
5.4.6 六步方波驅動測試比較 151
5.4.7 向量弦波驅動空載測試 152
5.4.8 向量弦波驅動負載平地測試 157
5.4.9 向量弦波驅動負載上坡起步測試 158
5.4.10 向量弦波驅動測試比較 159
第6章 結論與未來展望 161
6.1 結論 161
6.2 未來展望 162
參考文獻 163

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