(3.92.96.236) 您好!臺灣時間:2021/05/07 14:30
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果

詳目顯示:::

: 
twitterline
研究生:阮孟環
研究生(外文):Nguyen Manh Hoan
論文名稱:電動代步車的起動與停止控制
論文名稱(外文):Starting and Stopping Control of a Mobility Scooter
指導教授:陳正虎陳正虎引用關係林瑞裕
指導教授(外文):Cheng-Hu ChenRuey-Yue Lin
口試委員:陳正虎林瑞裕謝旻甫
口試委員(外文):Cheng-Hu ChenRuey-Yue LinMin-Fu Hsieh
口試日期:2011-07-12
學位類別:碩士
校院名稱:國立宜蘭大學
系所名稱:機械與機電工程學系碩士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2011
畢業學年度:99
語文別:英文
論文頁數:76
中文關鍵詞:電動代步車再生煞車雙向交/直流轉換電路無刷直流電機
外文關鍵詞:mobility scooterregenerative brakingsingle stage bidirectional DC/AC converterbrushless DC machine
相關次數:
  • 被引用被引用:1
  • 點閱點閱:267
  • 評分評分:系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔
  • 下載下載:20
  • 收藏至我的研究室書目清單書目收藏:1
本研究主要探討電動代步車的起動及停止的控制技術。近年來電動代步車已成為老年人及身心障礙者的主要行動輔具,相較於一般的電動機車及電動腳踏車,多數的電動代步車採用電動馬達作為動力的來源,由於電動代步車的起步及煞停控制主要由驅動控制器下達命令,並非由使用者自行控制,因此起動及停止的機制較一般電動交通工具複雜。現有的電動代步車多採用直流有刷馬達,本研究針對無刷直流電機,設計一單級式雙向交/直流轉換電路,應用於電動代步車。當無刷直流電機操作於馬達模式時,可使電動代步車平順加速;當下坡或減速時,驅動器可操作於再生煞車模式。本文透過測偵速度資訊決定再生煞車的制動力,經由各種行車測試的實驗結果證實,本文所提之控制策略確實可行。
This study explores the starting and stopping of a mobility scooter (MS). Mobility scooters are the major mobility-aided device for older people and disabled people. Most MSs are driven by electric motors, the starting and stopping control of a MS is much more complex in comparison with the general electric scooter or electric bicycles. The motor drive of a MS has to control the speed smoothly; moreover, it has to avoid the dangerous and fearful driving particularly on downhill and uphill roads. This study develops a single stage bidirectional DC/AC converter for a brushless DC (BLDC) machine. The BLDC machine is used to drive the MS when it is operation in the motor mode. When a MS is going to stop or keep the safely driving on downward gradient, the drive is operated in regenerative braking mode. The speed of the MS is estimated and used in regenerative braking mode; furthermore, the relationship between the braking torque and duty cycle of the converter is built to track desired profile of speed. Various experimental results based on road tests have shown the effectiveness of the proposed control system.
Abstract (Chinese) I
Abstract (English) II
Acknowledgment III
Contents IV
List of tables VI
List of figures VII
Chapter 1 Introduction 1
1.1 Overview 1
1.2 Motivation and purpose 4
1.3 Outline of chapters 4
Chapter 2 Introduction to mobility scooter 6
2.1 Types of mobility scooters 6
2.2 Configuration of a mobility scooter 10
2.3 Commercial drives of mobility scooter 11
Chapter 3 Brushless DC motor drive 13
3.1 Brushed DC and brushless DC motors 13
3.2 Brushless DC motor 15
3.2.1 Dynamic model of BLDC motors 15
3.2.2 Basic operational principles of BLDC motors 18
3.3 Four-quadrant operation of BLDC motors 20
Chapter 4 Regulations and performance of mobility scooters 22
4.1 Regulations of mobility scooters 22
4.2 Fundamentals of mobility scooter propulsion 24
4.2.1 Climbing force 24
4.2.2 Aerodynamic force 25
4.2.3 Rolling resistance 25
4.2.4 Total resistive force and power requirement 26
4.3 Starting and stopping control of a mobility scooter 29
4.3.1 Starting and stopping control of flat road driving 31
4.3.2 Starting and stopping control of uphill driving 38
4.3.3 Starting and stopping control of downhill driving 40
Chapter 5 Experimental evaluation 44
5.1 Prototype of the mobility scooter with a BLDC motor 44
5.2 Software implementation 47
5.3 Experimental results 51
5.3.1 BLDC motor and regenerative braking 51
5.3.2 Mobility scooter on road tests 55
Chapter 6 Conclusions and future work 71
6.1 Summary 71
6.2 Future work 72
References 73

[1]United Nations Department of Economic and Social Affairs, “Population Division, World Population Ageing 2009,” United Nations, New York, 2010.
[2]B. Woods and N. Watson, “A short history of powered wheelchairs,” Assist. Technol., vol. 15, no. 2, pp. 164-180, 2003.
[3]X. Attali and F. Pelisse, “Looking back on the evolution of electric wheelchairs,” Med. Eng. Phys., vol. 23, no. 10, pp. 735-743, 2001.
[4]CEN, European Standard: “Electrically powered wheelchairs, scooters and their chargers - Requirements and test methods,” English Version, August 2005.
[5]Wheelchairs—Part 14: Power and Control Systems for Electric Wheelchairs—Requirements and Test Methods, ISO 7176-14:1997.
[6]Wheelchairs — Part 21: Requirements and test methods for electromagnetic compatibility of electrically powered wheelchairs and motorized scooters, ISO 7176-21:2003.
[7]R. A. Cooper, T. A. Corfman, S. G. Fitzgerald, M. L. Boninger, D. M. Spaeth, W. Ammer, and J. Arva, “Performance assessment of a pushrim-activated power-assisted wheelchair control system,” IEEE Trans. Control Syst. Technol., vol. 10, no. 1, pp. 121-126, Jan. 2002.
[8]Y. Oonishi, S. Oh, and Y. Hori, “New control method for power-assisted wheelchair based on upper extremity movement using surface myoelectric signal,” in Proc. IEEE Int. Workshop AMC, pp. 498-503, Mar. 2008.
[9]Y. Takahashi, S. Ogawa, and S. Machida, “Front wheel raising and inverse pendulum control of power assist wheel chair robot,” in Proc. IEEE/IECON., pp. 668-673, 1999.
[10]S. Oh, N. Hata, and Y. Hori, “Integrated motion control of a wheelchair in the longitudinal, lateral, and pitch directions,” IEEE Trans. Ind. Electron., vol. 55, no. 4, pp. 1855-1862, Apr. 2008.
[11]H. Seki, K. Ishihara, and S. Tadakuma, “Novel regenerative braking control of electric power-assisted wheelchair for safety downhill road driving,” IEEE Trans. Ind. Electron., vol. 56, no. 5, pp. 1393-1400, May 2009.
[12]N. Mutoh, Y. Hayano, H. Yahagi, and K. Takita, “Electric braking control methods for electric vehicles with independently driven front and rear wheels,” IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 1168-1176, Apr. 2007.
[13]A. Adinolfi, R. Lamedica, C. Modesto, A. Prudenzi, and S. Vimercati,“Experimental assessment of energy saving due to trains regenerative braking in an electrified subway line,” IEEE Trans. Power Del., vol. 13, no. 4, pp. 1536-1542, Oct. 1998.
[14]http://en.wikipedia.org/wiki/Mobility_scooter
[15]http://www.travelscoot.com
[16]http://www.pridemobility.com/scooters/gogoultrax.asp
[17]http://www.kymco.com
[18]http://www.quingoscooters.com/scooter-specifications.htm
[19]J. Larminie, and J. Lowry, Electric Vehicle Technology Explained, John Wiley and Son, England, 2003.
[20]http://www.mobilitytyres.co.uk/products/accessories.php
[21]T. Kenjo, and S. Nagamori, Brushless Motor: Advanced Theory and Modern Applications, Sogo Electronics Press, Japan, 2003.
[22]P. Pillay and R. Krishnan, “Application characteristics of permanent magnet synchronous and brushless dc motors for servo drives,” in Proc. IEEE IAS Annual Meeting, pp. 380-390, Oct. 1987.
[23]C. H. Chen and M. Y. Cheng, “Design and Implementation of A High-Performance Bidirectional DC/AC Converter for Advanced EVs/HEVs,” in Proc. Inst. Electr. Eng.-Electr. Power Appl., vol. 153, no. 1, pp.140-148, Jan. 2006.
[24]D. C. Hanselman, Brushless permanent magnet motor design, The Writers’ Collective, USA, 2003.
[25]R. C. Becerra, M. Ehsani and T. M. Jahns, “Four-Quadrant Brushless ECM Drive with Integrated Current Regulation,” IEEE Transactions on Industry Applications, vol.28, no. 4, pp. 833-41, August 1992.
[26]R. Krishnan, “Permanent Magnet Synchronous and Brushless DC Motor,” CRC Press, Taylor & Francis Group, USA, 2010.
[27]H. Seki, K. Ishihara, and S. Tadakuma, “Novel regenerative braking control of electric power-assisted wheelchair for safety downhill road driving,” IEEE Trans. Ind. Electron., vol. 56, no. 5, pp. 1393-1400, May 2009.

[28]M. Ehsani, Y. Gao, and A. Emadi, Modern Electric, Hybrid Electric and Fuel Cell Vehicles: Fundamentals, Theory, and Design, CRC Press LLC, Florida, USA, 2010.
[29]http://en.wikipedia.org/wiki/Density_of_air
[30]http:// Microchip, dsPIC30F4011/4012 Data sheet, Microchip Technology Inc., 2005.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top
系統版面圖檔 系統版面圖檔