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研究生:林承穎
研究生(外文):Cheng-YingLin
論文名稱:基於電流訊號之轉矩估測器設計於動力輔助輪椅之應用
論文名稱(外文):Design of Current-Sensor-Based Torque Observer for the Application of Power-Assisted Wheelchairs
指導教授:蔡明祺
指導教授(外文):Mi-Ching Tsai
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系碩博士班
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:2012
畢業學年度:100
語文別:中文
論文頁數:75
中文關鍵詞:無力量感測器外擾觀測器輪椅動態模型動力輔助輪椅
外文關鍵詞:Force sensorlessDisturbance observerDynamic model of wheelchairPower-assisted wheelchair
相關次數:
  • 被引用被引用:4
  • 點閱點閱:248
  • 評分評分:
  • 下載下載:31
  • 收藏至我的研究室書目清單書目收藏:1
本研究致力發展無力量感測器之動力輔助系統控制技術,藉由電動馬達機電耦合特性,提出基於電流訊號回授之觀測器架構。該觀測器架構可用於估測馬達本身之轉動速度、加速度與所受之外擾資訊。本研究以雙輪驅動之動力輔助輪椅作為實現載具,使用能量法求得動力輔助輪椅之動態模型。結合輪椅動態模型與所提之估測架構,以偵測使用者推力大小。利用偵測所得之推力值與輪椅運動座標轉換,進行動力輔助控制之設計,實現具有省力操作功能之無力量感測器之動力輔助系統技術。
This research aims to develop a force sensorless power-assisted control technique. According to the characteristic of electromechanical coupling in electric DC motors, a current-sensor-based observer is proposed to realize the force sensorless power-assisted control. A feature of the proposed observer is that velocity, acceleration and disturbance torque of the electric motor could be estimated, simultaneously. Furthermore, the observer is employed into a double-wheel driven powered-assisted wheelchair, and the dynamic model of power-assisted wheelchair was established by using Lagrange method (energy method). Consequently, the user input force could be detected by the proposed observer. Eventually, the design of the force sensorless power-assisted control was achieved by using the detected force information with the coordinate transformation of a wheelchair.
摘要 I
Abstract II
誌謝 III
表目錄 VI
圖目錄 VII
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 3
1.3 論文架構 11
第二章 觀測器設計 12
2.1 馬達與摩擦力系統識別 12
2.2 基於電流訊號之外擾觀測器 19
2.3 改良型觀測器架構 23
2.4 觀測器與建模誤差 26
2.5 觀測器模擬分析 30
第三章 動力輔助輪椅控制架構 33
3.1 輪椅動態模型建立 33
3.2 使用者推力估測 38
3.3 動力輔助策略 40
第四章 實驗結果與討論 45
4.1 實驗架構 45
4.1.1 觀測器實驗平台 46
4.1.2 動力輔助輪椅 47
4.1.3 力量感測模組 49
4.1.4 運動控制模組 50
4.2 觀測器實驗 51
4.3 動力輔助系統實驗 59
4.3.1 輪椅空載 59
4.3.2 輪椅加載 64
第五章 結論與未來建議 71
參考文獻 72
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